Task: examine a pillow with 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           -1.0           0.900          1.0            0              0              0
   1  TissueBox       1.696          0.454          -0.767         0              0              0              32
   2  TissueBox       0.044          0.841          -0.867         0              0              0              35
   3  CreditCard      4.007          0.877          1.076          0              0              0              40
   4  CreditCard      1.466          0.477          0.186          0              180            0              31
   5  RemoteControl   0.967          0.337          1.892          0              0              0              21
   6  RemoteControl   -0.395         0.069          -0.729         0              0              0              34
   7  Box             2.656          0.569          1.798          0              0              0              30
   8  Newspaper       1.749          0.472          0.186          0              180            0              31
   9  Laptop          1.805          0.47           0.499          0              0              0              31
  10  WateringCan     1.621          0.056          -0.697         0              0              0              36
  11  TissueBox       1.324          0.475          0.431          0              180            0              31
  12  KeyChain        1.183          0.474          0.186          0              180            0              31
  13  Pen             1.183          0.483          0.431          0              180            0              31
  14  Boots           4.005          0.001          1.707          1.563          246.167        0
  15  Pencil          3.852          0.769          1.151          0              0              0              41
  16  RemoteControl   -0.202         0.324          1.665          0              91.372         0              38
  17  CreditCard      2.033          0.477          0.186          0              180            0              31
  18  Pillow          0.651          0.395          1.708          0              0              0              21
  19  Statue          -0.532         0.443          -0.738         0              92.244         0              37
  20  Statue          -0.401         0.850          -0.818         0              0              0              35
  21  Sofa            1.174          0.0            1.865          0              0              0
  22  FloorLamp       3.608          0.000          2.163          0              0              0
  23  GarbageCan      3.833          -0.029         -0.495         0              0              0
  24  Television      1.897          1.281          -0.838         0              0              0
  25  Painting        4.070          1.950          0.848          90             270            0
  26  HousePlant      0.387          0.801          -0.725         0              90             0
  27  Window          0.023          2.072          2.484          90             180            0
  28  Window          1.570          2.072          2.484          90             180            0
  29  LightSwitch     -1.399         1.289          1.835          0              90             0
  30  ArmChair        2.655          0.000          1.858          0              180            0
  31  CoffeeTable     1.591          -0.000         0.446          0              180            0
  32  Shelf           1.905          0.588          -0.730         0              0              0
  33  TVStand         1.904          -0.000         -0.770         0              0              0
  34  Shelf           -0.289         0.200          -0.732         0              0              0
  35  TVStand         -0.290         -0.000         -0.772         0              0              0
  36  Shelf           1.905          0.200          -0.730         0              0              0
  37  Shelf           -0.289         0.588          -0.732         0              0              0
  38  ArmChair        -0.270         0.000          1.870          0              181.372        0
  39  Sofa            1.193          0.008          1.865          0              180            0
  40  SideTable       3.946          0.000          0.865          0              270            0
  41  Drawer          3.882          0.774          0.864          0              270            0
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: turn right, walk to couch, turn to face the red pillow on the left | STEP 2: pick up the red pillow that is on the couch | STEP 3: turn right, walk forward, turn left, walk to the lamp, hold red pillow up to the lamp | STEP 4: turn the lamp on | END