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

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.900          -0.75          0              90             0
   1  Plate           -1.747         0.238          2.825          0              0              0              34
   2  KeyChain        -2.102         0.449          -0.364         0              0              0              39
   3  Laptop          1.219          0.782          -0.168         0              0              0              38
   4  Laptop          2.548          0.782          -0.168         0              0              0              38
   5  Pillow          -3.428         0.645          -0.297         0              0              0              33
   6  Pillow          -3.341         0.645          0.468          0              0              0              33
   7  Box             1.27           0.155          -0.293         0              9.804          0              38
   8  Candle          -2.184         0.447          -0.237         0              0              0              39
   9  Vase            1.662          0.784          -0.045         0              0              0              38
  10  CreditCard      -2.020         0.447          -0.109         0              0              0              39
  11  Vase            1.884          0.793          -0.661         0              0              0              38
  12  WateringCan     -3.252         -0.000         -1.861         0              0              0
  13  Laptop          2.105          0.782          -0.168         0              0              0              38
  14  RemoteControl   -1.856         0.448          0.018          0              0              0              39
  15  Statue          -3.592         0.705          1.431          0              90             0              36
  16  KeyChain        -1.774         0.449          0.145          0              0              0              39
  17  Pillow          -1.921         0.36           -1.500         0              0              0              32
  18  Plate           -2.102         0.452          0.018          0              0              0              39
  19  Statue          1.662          0.794          -0.661         0              0              0              38
  20  LightSwitch     -3.900         1.284          1.684          0              90             0
  21  GarbageCan      0.299          5.066          1.253          0              2.215          0
  22  FloorLamp       -0.331         0.001          2.728          0              0              0
  23  Painting        -0.056         1.601          1.733          90             270            0
  24  Painting        4.136          1.590          -0.296         90             270            0
  25  Television      -1.859         1.200          2.702          358.970        180            0
  26  HousePlant      -3.580         0.604          -1.617         0              0              0
  27  Window          1.478          1.506          -1.927         90             0              0
  28  Window          -2.003         1.506          -1.927         90             0              0
  29  Window          3.480          1.506          -1.927         90             0              0
  30  ArmChair        -0.437         0.005          1.923          0              270            0
  31  ArmChair        -0.430         0.005          1.062          0              270            0
  32  ArmChair        -2.004         0.005          -1.578         0              0              0
  33  Sofa            -3.419         0.009          -0.042         0              90             0
  34  DiningTable     -1.857         0.231          2.787          0              0              0
  35  TVStand         -1.857         0.000          2.788          0              0              0
  36  SideTable       -3.597         0.004          1.437          0              0              0
  37  SideTable       -3.597         0.004          -1.607         0              0              0
  38  DiningTable     1.883          0.000          -0.291         0              0              0
  39  CoffeeTable     -2.023         0.005          0.018          0              270            0
  40  Chair           1.462          -0.001         0.195          0              164.999        0
  41  Chair           2.288          -0.001         -0.780         0              0              0
  42  Chair           2.223          -0.001         0.149          0              186.648        0
  43  Chair           1.638          -0.001         -0.847         0              0              0
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: Turn around, head towards the couch, and turn right towards the second pillow on the right side of the couch. | STEP 2: Pick up the pillow from the couch. | STEP 3: Turn right, head towards the tv, turn right towards the tall lamp to the left of the sofa chair. | STEP 4: Turn on the lamp. | END