Task: Examine a cushion using the light from a floor lamp.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.900          -0.75          0              90             0
   1  Plate           -1.747         0.238          2.825          0              0              0              34
   2  KeyChain        -2.102         0.449          -0.364         0              0              0              39
   3  Laptop          1.219          0.782          -0.168         0              0              0              38
   4  Laptop          2.548          0.782          -0.168         0              0              0              38
   5  Pillow          -3.428         0.645          -0.297         0              0              0              33
   6  Pillow          -3.341         0.645          0.468          0              0              0              33
   7  Box             1.27           0.155          -0.293         0              9.804          0              38
   8  Candle          -2.184         0.447          -0.237         0              0              0              39
   9  Vase            1.662          0.784          -0.045         0              0              0              38
  10  CreditCard      -2.020         0.447          -0.109         0              0              0              39
  11  Vase            1.884          0.793          -0.661         0              0              0              38
  12  WateringCan     -3.252         -0.000         -1.861         0              0              0
  13  Laptop          2.105          0.782          -0.168         0              0              0              38
  14  RemoteControl   -1.856         0.448          0.018          0              0              0              39
  15  Statue          -3.592         0.705          1.431          0              90             0              36
  16  KeyChain        -1.774         0.449          0.145          0              0              0              39
  17  Pillow          -1.921         0.36           -1.500         0              0              0              32
  18  Plate           -2.102         0.452          0.018          0              0              0              39
  19  Statue          1.662          0.794          -0.661         0              0              0              38
  20  LightSwitch     -3.900         1.284          1.684          0              90             0
  21  GarbageCan      0.299          5.066          1.253          0              2.215          0
  22  FloorLamp       -0.331         0.001          2.728          0              0              0
  23  Painting        -0.056         1.601          1.733          90             270            0
  24  Painting        4.136          1.590          -0.296         90             270            0
  25  Television      -1.859         1.200          2.702          358.970        180            0
  26  HousePlant      -3.580         0.604          -1.617         0              0              0
  27  Window          1.478          1.506          -1.927         90             0              0
  28  Window          -2.003         1.506          -1.927         90             0              0
  29  Window          3.480          1.506          -1.927         90             0              0
  30  ArmChair        -0.437         0.005          1.923          0              270            0
  31  ArmChair        -0.430         0.005          1.062          0              270            0
  32  ArmChair        -2.004         0.005          -1.578         0              0              0
  33  Sofa            -3.419         0.009          -0.042         0              90             0
  34  DiningTable     -1.857         0.231          2.787          0              0              0
  35  TVStand         -1.857         0.000          2.788          0              0              0
  36  SideTable       -3.597         0.004          1.437          0              0              0
  37  SideTable       -3.597         0.004          -1.607         0              0              0
  38  DiningTable     1.883          0.000          -0.291         0              0              0
  39  CoffeeTable     -2.023         0.005          0.018          0              270            0
  40  Chair           1.462          -0.001         0.195          0              164.999        0
  41  Chair           2.288          -0.001         -0.780         0              0              0
  42  Chair           2.223          -0.001         0.149          0              186.648        0
  43  Chair           1.638          -0.001         -0.847         0              0              0
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: Turn around and move towards the couch then turn right and move towards the end of the couch then turn left. | STEP 2: Pick up the cushion from the couch. | STEP 3: Turn right and move towards the television then turn right and move towards the chair and then turn left and move towards the wall, and then turn right and move towards the floor lamp. | STEP 4: Turn on the floor lamp. | END