Task: Examine a cushion by the light of a lamp.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.25           0.900          -1.25          0              270            0
   1  Vase            -1.856         0.449          0.400          0              0              0              42
   2  Statue          1.662          0.794          -0.045         0              0              0              41
   3  Candle          -1.856         0.449          0.018          0              0              0              42
   4  Candle          -1.632         0.233          2.825          0              0              0              37
   5  RemoteControl   -1.734         0.710          2.788          0              0              0              38
   6  RemoteControl   2.105          0.785          0.077          0              0              0              41
   7  Laptop          -3.428         0.582          -0.297         0              0              0              36
   8  Laptop          2.105          0.782          -0.415         0              0              0              41
   9  Pillow          -3.254         0.645          0.468          0              0              0              36
  10  Box             1.27           0.155          -0.293         0              9.804          0              41
  11  Candle          -2.266         0.447          -0.109         0              0              0              42
  12  Vase            2.548          0.784          -0.661         0              0              0              41
  13  CreditCard      -2.115         0.711          2.700          0              0              0              38
  14  Vase            1.884          0.793          0.077          0              0              0              41
  15  WateringCan     -3.252         -0.000         -1.861         0              0              0
  16  Laptop          -2.015         0.442          -0.115         0              328.925        0              42
  17  RemoteControl   -2.184         0.448          0.400          0              0              0              42
  18  Statue          -2.020         0.455          0.400          0              0              0              42
  19  KeyChain        -2.115         0.708          2.919          0              0              0              38
  20  Pillow          -1.921         0.36           -1.500         0              0              0              35
  21  Plate           1.440          0.789          -0.292         0              0              0              41
  22  Statue          -1.747         0.242          2.863          0              180            0              37
  23  LightSwitch     -3.900         1.284          1.684          0              90             0
  24  GarbageCan      0.299          5.066          1.253          0              2.215          0
  25  FloorLamp       -0.331         0.001          2.728          0              0              0
  26  Painting        -0.056         1.601          1.733          90             270            0
  27  Painting        4.136          1.590          -0.296         90             270            0
  28  Television      -1.859         1.200          2.702          358.970        180            0
  29  HousePlant      -3.580         0.604          -1.617         0              0              0
  30  Window          1.478          1.506          -1.927         90             0              0
  31  Window          -2.003         1.506          -1.927         90             0              0
  32  Window          3.480          1.506          -1.927         90             0              0
  33  ArmChair        -0.437         0.005          1.923          0              270            0
  34  ArmChair        -0.430         0.005          1.062          0              270            0
  35  ArmChair        -2.004         0.005          -1.578         0              0              0
  36  Sofa            -3.419         0.009          -0.042         0              90             0
  37  DiningTable     -1.857         0.231          2.787          0              0              0
  38  TVStand         -1.857         0.000          2.788          0              0              0
  39  SideTable       -3.597         0.004          1.437          0              0              0
  40  SideTable       -3.597         0.004          -1.607         0              0              0
  41  DiningTable     1.883          0.000          -0.291         0              0              0
  42  CoffeeTable     -2.023         0.005          0.018          0              270            0
  43  Chair           1.462          -0.001         0.195          0              164.999        0
  44  Chair           2.288          -0.001         -0.780         0              0              0
  45  Chair           2.223          -0.001         0.149          0              186.648        0
  46  Chair           1.638          -0.001         -0.847         0              0              0
  47  NorthWall
  48  EastWall
  49  SouthWall
  50  WestWall

Plan:
STEP 1: Go straight, then turn right, then go left to go around the coffee table, then turn to face the rightmost couch cushion.  | STEP 2: Pick up the pillow on the rightmost couch cushion.  | STEP 3: Turn right, then turn right to go around the table, the go straight, toward the lamp in the corner ahead. | STEP 4: Turn on the lamp. | END