Task: Move a chair cushion across the room, next turn on the lamp

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.0           0.900          -0.75          0              0              0
   1  Plate           2.327          0.789          -0.415         0              0              0              37
   2  Vase            -1.862         0.233          2.750          0              0              0              33
   3  KeyChain        1.440          0.784          -0.045         0              0              0              37
   4  CreditCard      -2.266         0.449          0.145          0              0              0              38
   5  RemoteControl   -1.774         0.450          0.145          0              0              0              38
   6  Box             -3.341         0.736          -0.552         0              0              0              32
   7  Candle          -1.480         0.711          2.919          0              0              0              34
   8  Vase            -1.856         0.449          0.400          0              0              0              38
   9  CreditCard      -1.747         0.232          2.900          0              0              0              33
  10  Vase            2.105          0.793          -0.415         0              0              0              37
  11  WateringCan     -3.252         -0.000         -1.861         0              0              0
  12  Laptop          -2.015         0.442          -0.115         0              328.925        0              38
  13  RemoteControl   1.884          0.785          -0.661         0              0              0              37
  14  Statue          2.548          0.790          -0.538         0              0              0              37
  15  KeyChain        -3.341         0.533          -0.552         0              0              0              32
  16  Pillow          -1.921         0.36           -1.500         0              0              0              31
  17  Plate           -2.102         0.454          0.273          0              0              0              38
  18  Statue          1.884          0.794          -0.045         0              0              0              37
  19  LightSwitch     -3.900         1.284          1.684          0              90             0
  20  GarbageCan      0.299          5.066          1.253          0              2.215          0
  21  FloorLamp       -0.331         0.001          2.728          0              0              0
  22  Painting        -0.056         1.601          1.733          90             270            0
  23  Painting        4.136          1.590          -0.296         90             270            0
  24  Television      -1.859         1.200          2.702          358.970        180            0
  25  HousePlant      -3.580         0.604          -1.617         0              0              0
  26  Window          1.478          1.506          -1.927         90             0              0
  27  Window          -2.003         1.506          -1.927         90             0              0
  28  Window          3.480          1.506          -1.927         90             0              0
  29  ArmChair        -0.437         0.005          1.923          0              270            0
  30  ArmChair        -0.430         0.005          1.062          0              270            0
  31  ArmChair        -2.004         0.005          -1.578         0              0              0
  32  Sofa            -3.419         0.009          -0.042         0              90             0
  33  DiningTable     -1.857         0.231          2.787          0              0              0
  34  TVStand         -1.857         0.000          2.788          0              0              0
  35  SideTable       -3.597         0.004          1.437          0              0              0
  36  SideTable       -3.597         0.004          -1.607         0              0              0
  37  DiningTable     1.883          0.000          -0.291         0              0              0
  38  CoffeeTable     -2.023         0.005          0.018          0              270            0
  39  Chair           1.462          -0.001         0.195          0              164.999        0
  40  Chair           2.288          -0.001         -0.780         0              0              0
  41  Chair           2.223          -0.001         0.149          0              186.648        0
  42  Chair           1.638          -0.001         -0.847         0              0              0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: Turn around and face the tan chair that is under the window | STEP 2: Pick up the tan cushion on the chair | STEP 3: Move across the room with the cushion to the other chair that is closest to the green floor lamp | STEP 4: Turn on the green floor lamp | END