Task: Carry a purple cushion while turning on 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           -0.75          0.998          -1.75          0              180            0
   1  KeyChain        0.748          0.305          -1.698         0              0              0              24
   2  Laptop          -1.354         0.452          -0.738         0              270            0              28
   3  Pillow          -0.731         0.605          0.897          0              0              0              32
   4  Box             -2.863         1.03           -0.958         0              0              0              27
   5  Pillow          0.629          0.482          -1.667         0              0              0              24
   6  CreditCard      -0.731         0.524          0.772          0              0              0              32
   7  Plate           -3.429         0.885          -0.992         0              0              0              27
   8  Laptop          -0.959         0.452          -0.897         0              0              0              28
   9  RemoteControl   0.577          0.306          -1.949         0              0              0              24
  10  Vase            -3.650         0.883          -1.385         0              0              0              27
  11  Statue          0.257          0.965          -2.518         0              0              0              36
  12  KeyChain        -0.135         0.972          -2.533         0              90             0              36
  13  Pen             -0.959         0.459          -0.578         0              0              0              28
  14  Curtains        -3.013         1.557          -3.082         0              0              0
  15  Television      -1.063         0.939          -2.439         0              0              0
  16  HousePlant      0.753          0.855          -2.467         0              215.129        0
  17  HousePlant      0.739          0.855          -1.159         0              310.776        0
  18  FloorLamp       -2.186         0.096          1.111          0              0              0
  19  GarbageCan      -1.946         0.097          -2.899         0              216.243        0
  20  Painting        -4.326         1.817          -1.223         90             270            0
  21  Window          0.010          1.087          0.001          90             270            0
  22  Window          -2.983         1.544          -3.220         90             180            0
  23  LightSwitch     -3.907         1.371          1.386          0              180            0
  24  ArmChair        0.662          0.103          -1.781         0              270            0
  25  Stool           0.765          0.108          -1.148         0              0              0
  26  Stool           0.765          0.108          -2.460         0              35.380         0
  27  DiningTable     -3.428         0.099          -1.188         0              0              0
  28  CoffeeTable     -1.090         0.097          -0.737         0              0              0
  29  Chair           -3.793         0.098          -0.841         0              164.999        0
  30  Chair           -3.073         0.098          -1.515         0              11.313         0
  31  Chair           -3.810         0.098          -1.549         0              352.857        0
  32  Sofa            -0.905         0.099          0.959          0              180            0
  33  CoffeeTable     -1.046         0.096          -2.473         0              180            0
  34  Chair           -3.068         0.098          -0.882         0              180            0
  35  Drawer          -0.031         0.872          -2.487         0              0              0
  36  SideTable       -0.030         0.097          -2.552         0              0              0
  37  NorthWall
  38  EastWall
  39  SouthWall
  40  WestWall

Plan:
STEP 1: Move to the grey sofa with the purple cushion on top of it | STEP 2: pick up the purple cushion sitting on top of the grey sofa | STEP 3: Carry the purple cushion to the lamp that is to the left of the sofa | STEP 4: Turn on the lamp sitting next to the sofa | END