Task: Examine a pillow by the light of the lamp on the desk.

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           0.909          -2.0           0              0              0
   1  Mug             -3.466         0.979          -3.673         0              0              0              44
   2  Mug             -1.474         0.801          -3.920         0              0              0              41
   3  CD              -1.874         0.063          -3.897         0              279.990        0              30
   4  CellPhone       -3.694         0.614          -3.885         0              0              0              50
   5  CellPhone       -3.694         0.419          -3.092         0              0              0              52
   6  Pen             -3.834         0.986          -3.673         0              0              0              44
   7  Pencil          -3.908         0.984          -4.075         0              0              0              44
   8  CreditCard      -0.418         0.542          -3.713         0              0              0              35
   9  KeyChain        -0.453         0.804          -3.920         0              0              0              41
  10  Book            -3.693         0.810          -3.883         0              0              0              42
  11  Pillow          -2.559         0.722          -1.218         0              0              0              26
  12  AlarmClock      -0.862         0.803          -4.246         0              0              0              41
  13  Book            -3.402         0.620          -0.931         0              0              0              26
  14  CellPhone       -3.582         0.419          -3.370         0              0              0              52
  15  Laptop          -2.559         0.618          -2.080         0              0              0              26
  16  CreditCard      -0.578         0.030          -3.844         0              0              0              36
  17  AlarmClock      -3.760         0.979          -3.472         0              0              0              44
  18  KeyChain        -3.467         0.810          -4.164         0              0              0              42
  19  TeddyBear       -2.567         0.575          -0.386         357.948        14.682         7.781          26
  20  BaseballBat     -1.155         0.033          -3.997         90             59.999         0              Floor|-01.88|
  21  Pencil          -3.694         0.230          -3.977         0              0              0              48
  22  Pillow          -3.335         0.681          -0.415         0              0              0              26
  23  CD              -3.466         0.979          -3.070         0              0              0              44
  24  Pen             -3.751         0.424          -3.185         0              0              0              52
  25  Mug             -0.596         0.541          -3.713         0              0              0              35
  26  Bed             -2.980         0.009          -1.177         0              0              0
  27  LightSwitch     -1.620         1.351          0.0            0              180            0
  28  DeskLamp        -1.529         0.790          -4.298         0              0              0
  29  Mirror          -0.002         1.251          -2.592         0              90             0
  30  GarbageCan      -1.843         -0.017         -3.897         0              279.992        0
  31  Window          0.209          1.180          -1.504         90             270            0
  32  Drawer          -0.503         0.067          -4.188         0              180            0
  33  Drawer          -0.502         0.226          -3.799         0              0              0
  34  Drawer          -0.502         0.385          -3.799         0              0              0
  35  CoffeeTable     -0.503         0.009          -3.990         0              0              0
  36  Drawer          -0.502         0.067          -3.799         0              0              0
  37  Blinds          0.163          2.196          -1.495         0              270            0
  38  TableTopDecor   -3.586         0.996          -3.055         0              180            0
  39  Drawer          -0.503         0.385          -4.188         0              180            0
  40  Drawer          -0.503         0.226          -4.188         0              180            0
  41  Desk            -0.862         0.006          -4.028         0              0              0
  42  Drawer          -3.609         0.876          -4.055         0              90             0
  43  Drawer          -3.608         0.112          -3.261         0              90             0
  44  Dresser         -3.653         0.008          -3.658         0              90             0
  45  Drawer          -3.609         0.688          -3.261         0              90             0
  46  Drawer          -3.609         0.300          -3.261         0              90             0
  47  Drawer          -3.609         0.494          -4.055         0              90             0
  48  Drawer          -3.609         0.300          -4.055         0              90             0
  49  Drawer          -3.608         0.112          -4.055         0              90             0
  50  Drawer          -3.609         0.688          -4.055         0              90             0
  51  Drawer          -3.609         0.876          -3.261         0              90             0
  52  Drawer          -3.609         0.494          -3.261         0              90             0
  53  NorthWall
  54  EastWall
  55  SouthWall
  56  WestWall

Plan:
STEP 1: Turn left, go to the bed. | STEP 2: Pick up the close pillow on the bed.  | STEP 3: Bring the pillow to the left, to the lamp on the desk. | STEP 4: Turn on the lamp on the desk. | END