Task: Carry a cushion while turning on a lamp

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -6.5           0.900          2.75           0              0              0
   1  Statue          -1.733         0.319          2.681          0              39.022         0              32
   2  Statue          0.909          0.992          3.298          0              180            0              45
   3  KeyChain        -3.311         0.551          1.386          0              0              0              29
   4  RemoteControl   -5.762         0.783          5.353          0              0              0              33
   5  RemoteControl   0.753          0.538          3.323          0              0              0              43
   6  Box             -1.541         0.509          2.360          0              39.022         0              32
   7  Box             -5.639         0.977          4.689          0              0              0              33
   8  CellPhone       1.034          0.986          3.090          0              0              0              45
   9  WateringCan     0.829          -0.001         2.339          0              45             0              Floor|-03.10|
  10  Newspaper       0.909          0.982          3.714          0              0              0              45
  11  KeyChain        -6.009         0.787          5.132          0              0              0              33
  12  Plate           -5.807         0.781          4.222          0              0              0              33
  13  Pillow          -2.719         0.609          2.768          0              320.647        0              41
  14  RemoteControl   -6.009         0.788          5.575          0              0              0              33
  15  CreditCard      -1.470         0.309          2.633          0              39.022         0              32
  16  Laptop          -5.464         0.779          5.252          0              306.871        0              33
  17  Statue          -3.407         0.560          1.647          0              90             0              29
  18  Curtains        -1.046         3.500          2.880          0              0              0
  19  HousePlant      -3.580         0.548          1.659          0              0              0
  20  Television      0.852          1.460          3.726          357.954        270            0
  21  Painting        -3.813         1.809          1.008          90             90             0
  22  DeskLamp        0.890          0.545          6.822          0              0              0
  23  GarbageCan      -7.102         -0.044         2.295          0              90             0
  24  FloorLamp       -3.494         0.006          0.390          0              0              0
  25  LightSwitch     -5.234         1.391          7.031          0              180            0
  26  Window          -1.985         1.646          -0.009         90             180            0
  27  Window          -4.909         0.990          2.015          90             180            0
  28  Window          -5.796         1.072          1.871          90             180            0
  29  SideTable       -3.407         0.005          1.656          0              270            0
  30  SideTable       0.732          0.005          6.634          0              270            0
  31  Chair           -0.139         0.005          6.412          0              149.999        0
  32  CoffeeTable     -1.546         0.004          2.528          0              39.022         0
  33  DiningTable     -5.639         -0.003         4.910          0              270            0
  34  Chair           -3.159         0.005          0.869          0              97.469         0
  35  Chair           -5.192         0.002          4.682          0              281.219        0
  36  Chair           -5.181         0.002          5.293          0              266.218        0
  37  Chair           -6.046         0.002          4.560          0              86.218         0
  38  Chair           -5.624         0.002          5.750          0              180            0
  39  Chair           -6.036         0.002          5.235          0              93.544         0
  40  Chair           -5.580         0.002          4.099          0              357.508        0
  41  Sofa            -2.465         0.004          3.281          0              128.001        0
  42  Drawer          0.748          0.237          3.330          0              270            0
  43  Drawer          0.748          0.668          3.330          0              270            0
  44  Drawer          0.748          0.235          4.097          0              270            0
  45  Dresser         0.846          0.002          3.713          0              270            0
  46  Drawer          0.748          0.665          4.097          0              270            0
  47  NorthWall
  48  EastWall
  49  SouthWall
  50  WestWall

Plan:
STEP 1: Move to the large tan sofa in the middle of the room facing the purple cushion on the sofa  | STEP 2: Pick up the purple cushion on the sofa | STEP 3: Carry the purple cushion over to the small wooden end table with the lamp on top of it in the corner of the room | STEP 4: Turn on the lamp | END