Task: Pick up a pillow and turn a lamp on.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -4.25          0.901          2.25           0              180            0
   1  KeyChain        -3.724         0.397          3.689          0              90             0              37
   2  CreditCard      -4.191         0.483          3.702          0              0              0              22
   3  CreditCard      -1.592         0.755          1.274          0              0              0              38
   4  Box             -1.732         0.867          1.414          0              90             0              38
   5  Statue          -1.939         0.847          6.765          0              0              0              35
   6  Watch           -3.104         0.377          6.772          0              0              0              23
   7  WateringCan     -0.208         -0.000         3.225          0              63.928         0
   8  Laptop          -1.873         0.753          0.993          0              0              0              38
   9  CreditCard      -1.169         0.755          1.695          0              0              0              38
  10  KeyChain        -0.381         0.626          3.353          0              336.062        0              36
  11  Pillow          -4.335         0.465          4.398          0              0              0              29
  12  RemoteControl   -1.169         0.758          1.133          0              0              0              38
  13  Curtains        -0.037         2.148          0.999          0              0              0
  14  Painting        -0.016         2.061          5.380          0              0              0
  15  GarbageCan      -0.256         -0.010         6.799          0              0              0
  16  FloorLamp       -4.721         -0.001         3.687          0              0              0
  17  Television      -3.192         1.184          6.767          0              180            0
  18  HousePlant      -0.173         0.610          3.994          0              0              0
  19  LightSwitch     -3.483         1.470          0.001          0              0              0
  20  DeskLamp        -0.258         0.611          3.312          0              0              0
  21  Window          -0.008         1.340          1.725          90             270            0
  22  SideTable       -4.190         0.000          3.587          0              0              0
  23  Drawer          -2.925         0.475          6.717          0              180            0
  24  Drawer          -3.476         0.475          6.717          0              180            0
  25  Dresser         -3.201         -0.001         6.791          0              180            0
  26  Drawer          -2.925         0.165          6.719          0              180            0
  27  Drawer          -3.476         0.165          6.719          0              180            0
  28  ArmChair        -2.448         0.002          3.501          0              0              0
  29  Sofa            -4.425         0.014          5.062          0              90             0
  30  Ottoman         -2.374         0.000          4.483          0              0              0
  31  Chair           -2.151         0.004          1.284          0              90             0
  32  Chair           -1.549         0.004          1.780          0              195.000        0
  33  Chair           -1.626         0.004          0.778          0              10.166         0
  34  Chair           -1.076         0.004          1.292          0              265.171        0
  35  SideTable       -2.071         0.000          6.699          0              0              0
  36  SideTable       -0.244         -0.000         3.524          0              270            0
  37  ArmChair        -3.545         0.005          3.579          0              0              0
  38  DiningTable     -1.592         0.006          1.274          0              0              0
  39  NorthWall
  40  SouthWall
  41  SouthWall

Plan:
STEP 1: Turn around and go right and then left and then left again to face the red couch with the striped pillow. | STEP 2: Pick the pillow up from the couch. | STEP 3: Turn around and cross the room to face the black table with the lamp on it. | STEP 4: Turn the lamp on the black table on. | END