Task: turn on the lamp while holding a pillow

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -6.5           0.900          6.0            0              180            0
   1  Plate           -1.895         0.317          2.481          0              39.022         0              37
   2  Statue          -3.311         0.560          1.473          0              0              0              34
   3  Statue          -3.407         0.559          1.822          0              0              0              34
   4  Newspaper       -1.622         0.312          2.260          0              39.022         0              37
   5  Newspaper       -5.885         0.781          5.132          0              0              0              38
   6  KeyChain        -3.026         0.522          2.778          0              128.001        0              46
   7  KeyChain        0.822          0.100          3.074          0              0              0              47
   8  CellPhone       -1.662         0.316          2.954          0              39.022         0              37
   9  CreditCard      1.034          0.982          3.506          0              0              0              50
  10  RemoteControl   -5.762         0.788          4.910          0              0              0              38
  11  Laptop          -5.639         0.784          4.689          0              0              0              38
  12  Box             -1.208         0.509          2.585          0              39.022         0              37
  13  CellPhone       -3.216         0.552          1.909          0              0              0              34
  14  WateringCan     0.829          -0.001         2.339          0              45             0              Floor|-03.10|
  15  Newspaper       0.800          0.543          6.537          0              36.780         0              35
  16  KeyChain        -3.216         0.551          1.386          0              180            0              34
  17  Plate           -5.807         0.781          4.222          0              0              0              38
  18  Pillow          -2.719         0.609          2.768          0              320.647        0              46
  19  RemoteControl   -3.216         0.552          1.560          0              0              0              34
  20  CreditCard      -1.824         0.309          2.754          0              39.022         0              37
  21  Laptop          -5.464         0.779          5.252          0              306.871        0              38
  22  Statue          -1.642         0.319          2.607          0              129.022        0              37
  23  Curtains        -1.046         3.500          2.880          0              0              0
  24  HousePlant      -3.580         0.548          1.659          0              0              0
  25  Television      0.852          1.460          3.726          357.954        270            0
  26  Painting        -3.813         1.809          1.008          90             90             0
  27  DeskLamp        0.890          0.545          6.822          0              0              0
  28  GarbageCan      -7.102         -0.044         2.295          0              90             0
  29  FloorLamp       -3.494         0.006          0.390          0              0              0
  30  LightSwitch     -5.234         1.391          7.031          0              180            0
  31  Window          -1.985         1.646          -0.009         90             180            0
  32  Window          -4.909         0.990          2.015          90             180            0
  33  Window          -5.796         1.072          1.871          90             180            0
  34  SideTable       -3.407         0.005          1.656          0              270            0
  35  SideTable       0.732          0.005          6.634          0              270            0
  36  Chair           -0.139         0.005          6.412          0              149.999        0
  37  CoffeeTable     -1.546         0.004          2.528          0              39.022         0
  38  DiningTable     -5.639         -0.003         4.910          0              270            0
  39  Chair           -3.159         0.005          0.869          0              97.469         0
  40  Chair           -5.192         0.002          4.682          0              281.219        0
  41  Chair           -5.181         0.002          5.293          0              266.218        0
  42  Chair           -6.046         0.002          4.560          0              86.218         0
  43  Chair           -5.624         0.002          5.750          0              180            0
  44  Chair           -6.036         0.002          5.235          0              93.544         0
  45  Chair           -5.580         0.002          4.099          0              357.508        0
  46  Sofa            -2.465         0.004          3.281          0              128.001        0
  47  Drawer          0.748          0.237          3.330          0              270            0
  48  Drawer          0.748          0.668          3.330          0              270            0
  49  Drawer          0.748          0.235          4.097          0              270            0
  50  Dresser         0.846          0.002          3.713          0              270            0
  51  Drawer          0.748          0.665          4.097          0              270            0
  52  NorthWall
  53  EastWall
  54  SouthWall
  55  WestWall

Plan:
STEP 1: move left to the sofa | STEP 2: pick up the pillow from the sofa | STEP 3: move forward to the lamp | STEP 4: turn on the lamp | END