Task: With a pillow turn on 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           -2.0           0.901          5.5            0              0              0
   1  Watch           -0.459         0.626          3.651          0              22.813         0              43
   2  Statue          -1.451         0.761          0.993          0              0              0              45
   3  KeyChain        -4.219         0.478          5.787          0              0              0              36
   4  CreditCard      -2.485         0.452          3.776          0              0              0              35
   5  CreditCard      -4.622         0.477          4.863          0              0              0              36
   6  RemoteControl   -3.604         0.399          3.567          0              0              0              44
   7  RemoteControl   -4.153         0.486          3.588          0              0              0              29
   8  Pillow          -4.300         0.548          5.556          0              0              0              36
   9  Laptop          -2.005         0.839          6.632          0              0              0              42
  10  Laptop          -4.300         0.486          5.094          0              0              0              36
  11  Box             -1.732         0.867          1.414          0              90             0              45
  12  Statue          -1.592         0.761          1.695          0              0              0              45
  13  Watch           -1.732         0.756          1.695          0              0              0              45
  14  WateringCan     -0.208         -0.000         3.225          0              63.928         0
  15  Laptop          -1.732         0.753          0.993          0              0              0              45
  16  CreditCard      -2.647         0.444          3.776          0              0              0              35
  17  KeyChain        -3.045         0.068          6.674          0              90             0              33
  18  Pillow          -4.335         0.465          4.398          0              0              0              36
  19  RemoteControl   -2.566         0.403          3.701          0              0              0              35
  20  Curtains        -0.037         2.148          0.999          0              0              0
  21  Painting        -0.016         2.061          5.380          0              0              0
  22  GarbageCan      -0.256         -0.010         6.799          0              0              0
  23  FloorLamp       -4.721         -0.001         3.687          0              0              0
  24  Television      -3.192         1.184          6.767          0              180            0
  25  HousePlant      -0.173         0.610          3.994          0              0              0
  26  LightSwitch     -3.483         1.470          0.001          0              0              0
  27  DeskLamp        -0.258         0.611          3.312          0              0              0
  28  Window          -0.008         1.340          1.725          90             270            0
  29  SideTable       -4.190         0.000          3.587          0              0              0
  30  Drawer          -2.925         0.475          6.717          0              180            0
  31  Drawer          -3.476         0.475          6.717          0              180            0
  32  Dresser         -3.201         -0.001         6.791          0              180            0
  33  Drawer          -2.925         0.165          6.719          0              180            0
  34  Drawer          -3.476         0.165          6.719          0              180            0
  35  ArmChair        -2.448         0.002          3.501          0              0              0
  36  Sofa            -4.425         0.014          5.062          0              90             0
  37  Ottoman         -2.374         0.000          4.483          0              0              0
  38  Chair           -2.151         0.004          1.284          0              90             0
  39  Chair           -1.549         0.004          1.780          0              195.000        0
  40  Chair           -1.626         0.004          0.778          0              10.166         0
  41  Chair           -1.076         0.004          1.292          0              265.171        0
  42  SideTable       -2.071         0.000          6.699          0              0              0
  43  SideTable       -0.244         -0.000         3.524          0              270            0
  44  ArmChair        -3.545         0.005          3.579          0              0              0
  45  DiningTable     -1.592         0.006          1.274          0              0              0
  46  NorthWall
  47  SouthWall
  48  SouthWall

Plan:
STEP 1: Turn to the left and walk around the ottoman. Face the couch. | STEP 2: Pick up the pillow from the couch. | STEP 3: Turn around and walk forward then turn right. Turn right again and go to the side table with the lamp.  | STEP 4: Turn on the lamp with the pillow. | END