Task: turn on a table lamp with cushion in hand

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.900          -1.5           0              180            0
   1  Bowl            -0.990         0.863          -2.498         0              0              0              53
   2  Pen             0.355          0.817          -2.304         0              0              0              46
   3  Book            -0.621         0.774          1.173          0              0              0              24
   4  Book            1.103          0.774          1.335          0              0              0              24
   5  Laptop          -0.046         0.772          1.819          0              0              0              24
   6  AlarmClock      -1.393         0.862          -2.311         0              0              0              53
   7  Book            -1.406         0.087          -2.325         0              0              0              50
   8  Cloth           1.303          0.0            -0.696         0              303.212        0
   9  Cloth           1.273          0.0            -0.969         0              0              0
  10  CellPhone       -0.789         0.861          -2.373         0              0              0              53
  11  Pencil          1.411          0.827          -1.467         0              270            0              44
  12  Laptop          -0.333         0.772          1.496          0              0              0              24
  13  AlarmClock      0.355          0.812          -2.440         0              0              0              46
  14  CreditCard      0.459          0.811          -2.236         0              0              0              46
  15  KeyChain        -1.580         0.653          -2.401         0              0              0              52
  16  TennisRacket    -1.704         0.345          1.743          345.000        90             180
  17  RemoteControl   -1.232         0.653          -2.287         0              0              0              52
  18  Pillow          -0.046         0.902          1.012          0              0              0              24
  19  CD              1.521          0.817          -1.727         0              0              0              44
  20  CD              -1.145         0.371          -2.363         0              0              0              51
  21  CD              1.494          0.823          -1.570         0              270            0              44
  22  Pen             1.411          0.829          -1.260         0              270            0              44
  23  Bowl            -0.674         0.855          -2.499         0              323.153        0              53
  24  Bed             0.270          0.001          1.331          0              90             0
  25  LaundryHamper   -1.329         0.001          1.829          0              180            0
  26  Television      -1.664         1.479          -0.912         0              90             0
  27  DeskLamp        0.049          0.815          -2.481         0              0              0
  28  LightSwitch     -1.799         1.213          0.680          0              90             0
  29  Painting        0.492          1.684          -2.629         90             0              0
  30  Poster          -1.799         1.690          -1.491         90             270            0
  31  GarbageCan      1.306          -0.001         -2.451         0              317.376        0
  32  Mirror          1.5            1.361          -0.542         0              90             0
  33  Window          1.721          1.365          -1.597         90             270            0
  34  Shelf           -1.605         0.435          -0.686         0              90             0
  35  Shelf           -1.613         1.154          -0.904         0              90             0
  36  ShelvingUnit    -1.611         0.005          -0.904         0              90             0
  37  Shelf           -1.605         0.719          -1.122         0              90             0
  38  Shelf           -1.605         0.435          -1.122         0              90             0
  39  Shelf           -1.605         1.006          -1.122         0              90             0
  40  Shelf           -1.605         0.148          -0.686         0              90             0
  41  Shelf           -1.605         0.149          -1.122         0              90             0
  42  Shelf           -1.605         1.006          -0.686         0              90             0
  43  Shelf           -1.605         0.719          -0.686         0              90             0
  44  SideTable       1.484          0.001          -1.481         0              270            0
  45  Blinds          1.699          2.096          -1.575         0              270            0
  46  Desk            0.244          0.004          -2.356         0              0              0
  47  Chair           -0.626         1.439          -2.199         0              171.006        0
  48  Chair           0.220          1.466          -2.214         0              188.269        0
  49  Shelf           -0.978         1.387          -2.479         0              0              0
  50  Drawer          -1.389         0.197          -2.261         0              0              0
  51  Drawer          -1.389         0.480          -2.261         0              0              0
  52  Drawer          -1.389         0.731          -2.261         0              0              0
  53  Desk            -0.973         1.162          -2.351         0              0              0
  54  NorthWall
  55  EastWall
  56  SouthWall
  57  WestWall

Plan:
STEP 1: walk to face bed | STEP 2: pick up blue cushion from bed | STEP 3: turn around to face table to left of desk | STEP 4: turn on lamp on the table | END