Task: Grab the purple pillow from the arm chair, turn on the 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           -0.25          0.998          -0.75          0              90             0
   1  Pen             -3.650         0.884          -0.893         0              0              0              30
   2  KeyChain        0.919          0.786          -1.698         0              0              0              27
   3  KeyChain        0.492          0.409          -2.033         0              90             0              27
   4  CreditCard      -0.383         0.524          0.772          0              0              0              35
   5  RemoteControl   -1.428         0.526          0.835          0              0              0              35
   6  RemoteControl   -0.731         0.526          0.835          0              0              0              35
   7  Box             -1.354         0.608          -0.738         0              270            0              31
   8  Pillow          0.629          0.482          -1.667         0              0              0              27
   9  CreditCard      0.748          0.304          -1.530         0              0              0              27
  10  Plate           -4.094         0.888          -1.287         0              0              0              30
  11  Laptop          -3.207         0.879          -1.188         0              0              0              30
  12  RemoteControl   0.577          0.306          -1.614         0              0              0              27
  13  Vase            -0.345         0.977          -2.533         0              90             0              39
  14  Statue          0.257          0.965          -2.518         0              0              0              39
  15  KeyChain        -3.650         0.878          -1.188         0              0              0              30
  16  Pen             -2.763         0.884          -1.188         0              0              0              30
  17  Curtains        -3.013         1.557          -3.082         0              0              0
  18  Television      -1.063         0.939          -2.439         0              0              0
  19  HousePlant      0.753          0.855          -2.467         0              215.129        0
  20  HousePlant      0.739          0.855          -1.159         0              310.776        0
  21  FloorLamp       -2.186         0.096          1.111          0              0              0
  22  GarbageCan      -1.946         0.097          -2.899         0              216.243        0
  23  Painting        -4.326         1.817          -1.223         90             270            0
  24  Window          0.010          1.087          0.001          90             270            0
  25  Window          -2.983         1.544          -3.220         90             180            0
  26  LightSwitch     -3.907         1.371          1.386          0              180            0
  27  ArmChair        0.662          0.103          -1.781         0              270            0
  28  Stool           0.765          0.108          -1.148         0              0              0
  29  Stool           0.765          0.108          -2.460         0              35.380         0
  30  DiningTable     -3.428         0.099          -1.188         0              0              0
  31  CoffeeTable     -1.090         0.097          -0.737         0              0              0
  32  Chair           -3.793         0.098          -0.841         0              164.999        0
  33  Chair           -3.073         0.098          -1.515         0              11.313         0
  34  Chair           -3.810         0.098          -1.549         0              352.857        0
  35  Sofa            -0.905         0.099          0.959          0              180            0
  36  CoffeeTable     -1.046         0.096          -2.473         0              180            0
  37  Chair           -3.068         0.098          -0.882         0              180            0
  38  Drawer          -0.031         0.872          -2.487         0              0              0
  39  SideTable       -0.030         0.097          -2.552         0              0              0
  40  NorthWall
  41  EastWall
  42  SouthWall
  43  WestWall

Plan:
STEP 1: Turn right, and turn left to the yellow arm chair | STEP 2: Grab the purple pillow on the arm chair | STEP 3: Turn around, walk to the white table, turn right, walk to the floor lamp | STEP 4: Turn on the floor lamp | END