Task: look at the pillow under 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           -2.75          0.901          0.25           0              0              0
   1  Statue          -1.169         0.761          0.993          0              0              0              40
   2  CreditCard      -1.732         0.755          1.695          0              0              0              40
   3  CreditCard      -3.104         0.067          6.674          0              0              0              28
   4  Laptop          -1.310         0.753          1.554          0              0              0              40
   5  Laptop          -1.873         0.753          0.993          0              0              0              40
   6  Box             -1.607         0.151          6.854          0              0              0              37
   7  Statue          -1.451         0.761          0.852          0              0              0              40
   8  Watch           -1.169         0.756          1.274          0              0              0              40
   9  WateringCan     -0.208         -0.000         3.225          0              63.928         0
  10  Laptop          -1.683         0.747          1.489          0              338.703        0              40
  11  CreditCard      -4.542         0.477          5.556          0              0              0              31
  12  KeyChain        -1.592         0.756          1.133          0              0              0              40
  13  Pillow          -4.335         0.465          4.398          0              0              0              31
  14  RemoteControl   -4.139         0.480          5.325          0              0              0              31
  15  Curtains        -0.037         2.148          0.999          0              0              0
  16  Painting        -0.016         2.061          5.380          0              0              0
  17  GarbageCan      -0.256         -0.010         6.799          0              0              0
  18  FloorLamp       -4.721         -0.001         3.687          0              0              0
  19  Television      -3.192         1.184          6.767          0              180            0
  20  HousePlant      -0.173         0.610          3.994          0              0              0
  21  LightSwitch     -3.483         1.470          0.001          0              0              0
  22  DeskLamp        -0.258         0.611          3.312          0              0              0
  23  Window          -0.008         1.340          1.725          90             270            0
  24  SideTable       -4.190         0.000          3.587          0              0              0
  25  Drawer          -2.925         0.475          6.717          0              180            0
  26  Drawer          -3.476         0.475          6.717          0              180            0
  27  Dresser         -3.201         -0.001         6.791          0              180            0
  28  Drawer          -2.925         0.165          6.719          0              180            0
  29  Drawer          -3.476         0.165          6.719          0              180            0
  30  ArmChair        -2.448         0.002          3.501          0              0              0
  31  Sofa            -4.425         0.014          5.062          0              90             0
  32  Ottoman         -2.374         0.000          4.483          0              0              0
  33  Chair           -2.151         0.004          1.284          0              90             0
  34  Chair           -1.549         0.004          1.780          0              195.000        0
  35  Chair           -1.626         0.004          0.778          0              10.166         0
  36  Chair           -1.076         0.004          1.292          0              265.171        0
  37  SideTable       -2.071         0.000          6.699          0              0              0
  38  SideTable       -0.244         -0.000         3.524          0              270            0
  39  ArmChair        -3.545         0.005          3.579          0              0              0
  40  DiningTable     -1.592         0.006          1.274          0              0              0
  41  NorthWall
  42  SouthWall
  43  SouthWall

Plan:
STEP 1: go to the left side of the sofa | STEP 2: pick up the pillow from the cushion | STEP 3: take the pillow to the lamp | STEP 4: turn on the lamp | END