Task: Turn on a lamp while holding a red cushion

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.25          0.900          -1.0           0              0              0
   1  TissueBox       -0.512         0.841          -0.818         0              0              0              35
   2  TissueBox       1.324          0.479          0.676          0              180            0              31
   3  Newspaper       1.380          0.334          1.600          0              0              0              39
   4  Pencil          -0.185         0.071          -0.691         0              90             0              34
   5  Pencil          1.793          0.843          -0.623         0              0              0              33
   6  Laptop          -0.273         0.321          1.739          0              181.372        0              38
   7  Box             1.586          0.582          1.819          0              0              0              39
   8  Newspaper       -0.067         0.838          -0.672         0              0              0              35
   9  Laptop          1.805          0.47           0.499          0              0              0              31
  10  WateringCan     1.621          0.056          -0.697         0              0              0              36
  11  TissueBox       1.183          0.475          0.512          0              180            0              31
  12  KeyChain        1.174          0.336          1.892          0              270            0              39
  13  Pen             1.466          0.483          0.594          0              180            0              31
  14  Boots           4.005          0.001          1.707          1.563          246.167        0
  15  Pencil          3.849          0.879          0.971          0              0              0              40
  16  RemoteControl   0.044          0.841          -0.818         0              0              0              35
  17  CreditCard      2.800          0.323          1.511          0              90             0              30
  18  Pillow          0.651          0.395          1.708          0              0              0              21
  19  Statue          -0.532         0.443          -0.738         0              92.244         0              37
  20  Statue          1.324          0.487          0.267          0              180            0              31
  21  Sofa            1.174          0.0            1.865          0              0              0
  22  FloorLamp       3.608          0.000          2.163          0              0              0
  23  GarbageCan      3.833          -0.029         -0.495         0              0              0
  24  Television      1.897          1.281          -0.838         0              0              0
  25  Painting        4.070          1.950          0.848          90             270            0
  26  HousePlant      0.387          0.801          -0.725         0              90             0
  27  Window          0.023          2.072          2.484          90             180            0
  28  Window          1.570          2.072          2.484          90             180            0
  29  LightSwitch     -1.399         1.289          1.835          0              90             0
  30  ArmChair        2.655          0.000          1.858          0              180            0
  31  CoffeeTable     1.591          -0.000         0.446          0              180            0
  32  Shelf           1.905          0.588          -0.730         0              0              0
  33  TVStand         1.904          -0.000         -0.770         0              0              0
  34  Shelf           -0.289         0.200          -0.732         0              0              0
  35  TVStand         -0.290         -0.000         -0.772         0              0              0
  36  Shelf           1.905          0.200          -0.730         0              0              0
  37  Shelf           -0.289         0.588          -0.732         0              0              0
  38  ArmChair        -0.270         0.000          1.870          0              181.372        0
  39  Sofa            1.193          0.008          1.865          0              180            0
  40  SideTable       3.946          0.000          0.865          0              270            0
  41  Drawer          3.882          0.774          0.864          0              270            0
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: Move to the left side of the large green sofa | STEP 2: Pick up the red seat cushion on top of the green sofa | STEP 3: Carry the red cushion over to the floor lamp | STEP 4: Turn on the lamp | END