Task: Pick up a cushion and turn 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           1.25           0.901          0.25           0              180            0
   1  CD              -0.362         0.693          -1.980         0              90             0              28
   2  CD              -0.339         0.662          0.600          0              180            0              31
   3  Pen             -0.413         0.668          0.513          0              180            0              31
   4  Pencil          -0.561         0.666          0.427          0              180            0              31
   5  CreditCard      -0.615         0.090          0.503          0              0              0              32
   6  Box             -0.015         0.239          -2.091         0              0              0
   7  Book            0.845          0.691          -2.055         0              90             0              28
   8  BaseballBat     1.798          0.639          0.425          0              0              342.316
   9  Pen             0.661          0.699          -2.336         0              90             0              28
  10  Pencil          -0.506         0.094          0.503          0              0              0              32
  11  KeyChain        -0.561         0.663          0.556          0              270            0              31
  12  Pillow          -1.521         0.703          -0.198         0              0              0              19
  13  CreditCard      -0.782         0.663          0.686          0              180            0              31
  14  CellPhone       0.157          0.694          -1.943         0              99.090         0              28
  15  Laptop          1.641          0.686          -1.011         0              270            0              28
  16  CD              1.747          0.693          -1.409         0              0              0              28
  17  Bowl            1.222          0.686          -2.128         0              0              0              28
  18  AlarmClock      1.492          0.475          -0.764         0              270            0              27
  19  Bed             -1.696         0.004          -0.446         0              0              0
  20  Chair           0.956          -0.000         -1.747         0              110.225        0
  21  DeskLamp        -0.440         0.688          -2.276         0              0              0
  22  LightSwitch     0.625          1.338          0.734          0              180            0
  23  GarbageCan      1.660          -0.019         -0.389         0              345.008        0
  24  Mirror          1.300          1.422          0.765          0              0              0
  25  HousePlant      -0.867         0.000          -2.286         0              0              0
  26  Window          0.819          1.496          -2.553         90             180            0
  27  Shelf           1.616          0.561          -0.802         0              0              0
  28  Desk            0.617          -0.000         -1.511         0              0              0
  29  Blinds          0.796          2.217          -2.476         0              0              0
  30  Drawer          -0.558         0.456          0.462          0              180            0
  31  SideTable       -0.557         -0.000         0.529          0              180            0
  32  Drawer          -0.558         0.164          0.462          0              180            0
  33  Desktop         1.455          0.692          -1.886         358.180        309.674        0
  34  NorthWall
  35  EastWall
  36  SouthWall
  37  WestWall

Plan:
STEP 1: Go forward to the desk, hang a right and go to the bed. | STEP 2: Pick up the cushion that is on the bed.  | STEP 3: Turn around, go to the right to the table with the lamp on it. | STEP 4: Turn on the lamp. | END