Task: Examine a pillow by the light of a desk lamp.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.5           0.900          -0.75          0              0              0
   1  TissueBox       -4.273         1.066          0.257          0              270            0              28
   2  TissueBox       -0.175         0.129          1.202          0              0              0              38
   3  KeyChain        -0.589         0.897          1.234          0              0              0              40
   4  KeyChain        -1.121         0.634          1.327          0              270            0              39
   5  CreditCard      -0.806         0.127          1.274          0              0              0              38
   6  Box             -3.780         1.305          0.457          0              0              0              28
   7  Vase            -1.226         0.128          1.165          0              0              0              38
   8  TissueBox       -1.047         0.900          1.187          0              0              0              40
   9  Newspaper       -0.385         0.127          1.202          0              0              0              38
  10  KeyChain        -0.396         0.538          -0.983         0              0              0              37
  11  Vase            0.667          0.668          1.267          0              0              0              29
  12  Statue          -1.29          0.891          1.219          0              180            0              40
  13  RemoteControl   0.056          0.483          -1.319         0              0              0              37
  14  Pillow          -1.827         0.585          -1.251         0              0              0              31
  15  CreditCard      -0.169         0.541          -0.983         0              0              0              37
  16  Laptop          0.434          0.541          -1.187         0              0              0              37
  17  Vase            1.407          0.660          -1.413         0              0              0              33
  18  Statue          -0.359         0.998          1.140          0              0              0              40
  19  DeskLamp        1.657          0.654          -1.605         0              0              0
  20  FloorLamp       -4.569         0.005          -1.616         0              15.092         0
  21  LightSwitch     -2.464         1.230          -1.950         0              0              0
  22  GarbageCan      -4.581         -0.032         1.126          0              90             0
  23  Television      -0.549         1.516          1.450          0              180            0
  24  HousePlant      1.555          0.650          1.166          0              0              0
  25  Window          -2.012         1.501          1.468          90             0              0
  26  Window          0.986          1.501          1.468          90             0              0
  27  Painting        -0.698         1.835          -1.911         90             0              0
  28  DiningTable     -3.941         0.005          0.257          0              0              0
  29  SideTable       1.102          -0.000         1.118          0              180            0
  30  Drawer          1.103          0.519          0.834          0              180            0
  31  ArmChair        -1.832         0.010          -1.349         0              0              0
  32  Drawer          1.581          0.523          -1.199         0              0              0
  33  SideTable       1.581          0.003          -1.488         0              0              0
  34  Painting        -4.910         1.763          -0.098         90             270            0
  35  Chair           -4.398         0.002          0.274          0              85.162         0
  36  Chair           -3.825         0.002          -0.223         0              340.163        0
  37  Sofa            0.057          -0.002         -1.386         0              0              0
  38  Shelf           -0.552         0.114          1.252          0              180            0
  39  Drawer          -1.020         0.728          1.032          0              180            0
  40  SideTable       -0.589         0.000          1.227          0              180            0
  41  Drawer          -0.157         0.728          1.032          0              180            0
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: Turn right and walk to the chair containing a pillow. | STEP 2: Pick up the pillow from the chair. | STEP 3: Turn left and walk to the lamp on the desk in the corner of the room. | STEP 4: Turn on the lamp. | END