Task: Pick up a cushion from the couch and turn on the lamp.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.75          0.901          0.25           0              0              0
   1  Statue          -1.169         0.761          0.993          0              0              0              40
   2  CreditCard      -1.732         0.755          1.695          0              0              0              40
   3  CreditCard      -3.104         0.067          6.674          0              0              0              28
   4  Laptop          -1.310         0.753          1.554          0              0              0              40
   5  Laptop          -1.873         0.753          0.993          0              0              0              40
   6  Box             -1.607         0.151          6.854          0              0              0              37
   7  Statue          -1.451         0.761          0.852          0              0              0              40
   8  Watch           -1.169         0.756          1.274          0              0              0              40
   9  WateringCan     -0.208         -0.000         3.225          0              63.928         0
  10  Laptop          -1.683         0.747          1.489          0              338.703        0              40
  11  CreditCard      -4.542         0.477          5.556          0              0              0              31
  12  KeyChain        -1.592         0.756          1.133          0              0              0              40
  13  Pillow          -4.335         0.465          4.398          0              0              0              31
  14  RemoteControl   -4.139         0.480          5.325          0              0              0              31
  15  Curtains        -0.037         2.148          0.999          0              0              0
  16  Painting        -0.016         2.061          5.380          0              0              0
  17  GarbageCan      -0.256         -0.010         6.799          0              0              0
  18  FloorLamp       -4.721         -0.001         3.687          0              0              0
  19  Television      -3.192         1.184          6.767          0              180            0
  20  HousePlant      -0.173         0.610          3.994          0              0              0
  21  LightSwitch     -3.483         1.470          0.001          0              0              0
  22  DeskLamp        -0.258         0.611          3.312          0              0              0
  23  Window          -0.008         1.340          1.725          90             270            0
  24  SideTable       -4.190         0.000          3.587          0              0              0
  25  Drawer          -2.925         0.475          6.717          0              180            0
  26  Drawer          -3.476         0.475          6.717          0              180            0
  27  Dresser         -3.201         -0.001         6.791          0              180            0
  28  Drawer          -2.925         0.165          6.719          0              180            0
  29  Drawer          -3.476         0.165          6.719          0              180            0
  30  ArmChair        -2.448         0.002          3.501          0              0              0
  31  Sofa            -4.425         0.014          5.062          0              90             0
  32  Ottoman         -2.374         0.000          4.483          0              0              0
  33  Chair           -2.151         0.004          1.284          0              90             0
  34  Chair           -1.549         0.004          1.780          0              195.000        0
  35  Chair           -1.626         0.004          0.778          0              10.166         0
  36  Chair           -1.076         0.004          1.292          0              265.171        0
  37  SideTable       -2.071         0.000          6.699          0              0              0
  38  SideTable       -0.244         -0.000         3.524          0              270            0
  39  ArmChair        -3.545         0.005          3.579          0              0              0
  40  DiningTable     -1.592         0.006          1.274          0              0              0
  41  NorthWall
  42  SouthWall
  43  SouthWall

Plan:
STEP 1: Turn right at the pink chair, turn left at the small table, turn left at the rug, turn left at the couch, turn right to face the left side of the couch.  | STEP 2: Pick up the striped cushion from the couch.  | STEP 3: Turn around and walk over to the small table.  | STEP 4: Turn on the lamp that's on the table.  | END