Task: Pick up a pillow and turn on 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           -0.5           0.900          -0.5           0              180            0
   1  TissueBox       0.667          0.658          1.267          0              0              0              28
   2  Newspaper       -1.047         0.896          1.187          0              0              0              39
   3  Statue          1.568          0.760          0.968          0              0              0              28
   4  KeyChain        1.118          0.457          1.222          0              270            0              29
   5  Box             -3.780         1.305          0.457          0              0              0              27
   6  Vase            1.492          0.656          -1.413         0              0              0              32
   7  TissueBox       1.407          0.657          -1.639         0              0              0              32
   8  Newspaper       -0.359         0.898          1.234          0              0              0              39
   9  KeyChain        -0.385         0.128          1.093          0              90             0              37
  10  Vase            0.817          0.666          1.043          0              0              0              28
  11  Statue          -1.226         0.133          1.202          0              0              0              39
  12  RemoteControl   0.737          0.483          -1.151         0              0              0              36
  13  Pillow          -1.827         0.585          -1.251         0              0              0              30
  14  CreditCard      -0.589         0.898          1.280          0              0              0              39
  15  Laptop          0.434          0.541          -1.187         0              0              0              36
  16  Vase            -0.175         0.131          1.238          0              0              0              37
  17  Statue          1.117          0.758          0.968          0              0              0              28
  18  DeskLamp        1.657          0.654          -1.605         0              0              0
  19  FloorLamp       -4.569         0.005          -1.616         0              15.092         0
  20  LightSwitch     -2.464         1.230          -1.950         0              0              0
  21  GarbageCan      -4.581         -0.032         1.126          0              90             0
  22  Television      -0.549         1.516          1.450          0              180            0
  23  HousePlant      1.555          0.650          1.166          0              0              0
  24  Window          -2.012         1.501          1.468          90             0              0
  25  Window          0.986          1.501          1.468          90             0              0
  26  Painting        -0.698         1.835          -1.911         90             0              0
  27  DiningTable     -3.941         0.005          0.257          0              0              0
  28  SideTable       1.102          -0.000         1.118          0              180            0
  29  Drawer          1.103          0.519          0.834          0              180            0
  30  ArmChair        -1.832         0.010          -1.349         0              0              0
  31  Drawer          1.581          0.523          -1.199         0              0              0
  32  SideTable       1.581          0.003          -1.488         0              0              0
  33  Painting        -4.910         1.763          -0.098         90             270            0
  34  Chair           -4.398         0.002          0.274          0              85.162         0
  35  Chair           -3.825         0.002          -0.223         0              340.163        0
  36  Sofa            0.057          -0.002         -1.386         0              0              0
  37  Shelf           -0.552         0.114          1.252          0              180            0
  38  Drawer          -1.020         0.728          1.032          0              180            0
  39  SideTable       -0.589         0.000          1.227          0              180            0
  40  Drawer          -0.157         0.728          1.032          0              180            0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: Turn to the right and go to the brown chair. | STEP 2: Pick up the pillow that is on the brown chair. | STEP 3: Turn to the left and go to the wall, then turn right to face the table. | STEP 4: Turn on the lamp that is on the table. | END