Task: Examine the pillow by the light

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          3.75           0              180            0
   1  CellPhone       -3.407         0.554          1.560          0              0              0              26
   2  Box             -5.762         0.982          5.575          0              90             0              30
   3  Laptop          -5.762         0.780          4.689          0              0              0              30
   4  Box             -1.299         0.509          2.659          0              39.022         0              29
   5  CellPhone       0.722          0.985          4.337          0              0              0              42
   6  WateringCan     0.829          -0.001         2.339          0              45             0              Floor|-03.10|
   7  Newspaper       0.909          0.982          4.337          0              0              0              42
   8  KeyChain        0.732          0.551          6.556          0              0              0              27
   9  Plate           -1.541         0.312          2.360          0              39.022         0              29
  10  Pillow          -2.719         0.609          2.768          0              320.647        0              38
  11  RemoteControl   0.541          0.550          6.731          0              0              0              27
  12  CreditCard      0.787          0.098          3.847          0              0              0              41
  13  Laptop          -5.464         0.779          5.252          0              306.871        0              30
  14  Statue          -1.824         0.323          2.754          0              309.022        0              29
  15  Curtains        -1.046         3.500          2.880          0              0              0
  16  HousePlant      -3.580         0.548          1.659          0              0              0
  17  Television      0.852          1.460          3.726          357.954        270            0
  18  Painting        -3.813         1.809          1.008          90             90             0
  19  DeskLamp        0.890          0.545          6.822          0              0              0
  20  GarbageCan      -7.102         -0.044         2.295          0              90             0
  21  FloorLamp       -3.494         0.006          0.390          0              0              0
  22  LightSwitch     -5.234         1.391          7.031          0              180            0
  23  Window          -1.985         1.646          -0.009         90             180            0
  24  Window          -4.909         0.990          2.015          90             180            0
  25  Window          -5.796         1.072          1.871          90             180            0
  26  SideTable       -3.407         0.005          1.656          0              270            0
  27  SideTable       0.732          0.005          6.634          0              270            0
  28  Chair           -0.139         0.005          6.412          0              149.999        0
  29  CoffeeTable     -1.546         0.004          2.528          0              39.022         0
  30  DiningTable     -5.639         -0.003         4.910          0              270            0
  31  Chair           -3.159         0.005          0.869          0              97.469         0
  32  Chair           -5.192         0.002          4.682          0              281.219        0
  33  Chair           -5.181         0.002          5.293          0              266.218        0
  34  Chair           -6.046         0.002          4.560          0              86.218         0
  35  Chair           -5.624         0.002          5.750          0              180            0
  36  Chair           -6.036         0.002          5.235          0              93.544         0
  37  Chair           -5.580         0.002          4.099          0              357.508        0
  38  Sofa            -2.465         0.004          3.281          0              128.001        0
  39  Drawer          0.748          0.237          3.330          0              270            0
  40  Drawer          0.748          0.668          3.330          0              270            0
  41  Drawer          0.748          0.235          4.097          0              270            0
  42  Dresser         0.846          0.002          3.713          0              270            0
  43  Drawer          0.748          0.665          4.097          0              270            0
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: Turn left then head to the sofa | STEP 2: Pick up the pillow on the sofa | STEP 3: Turn right then head to the side table with lamp | STEP 4: Turn on the lamp | END