Task: take the pillow from the bed and look at it under 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           1.25           0.900          -1.0           0              180            0
   1  Mug             2.108          0.796          -1.482         0              0              0              35
   2  Mug             2.931          0.543          -1.419         0              0              0              34
   3  CD              1.127          0.058          -1.614         0              180            0              38
   4  CD              1.240          0.282          -1.614         0              180            0              36
   5  CellPhone       0.227          0.570          -0.236         0              0              0              22
   6  Pen             2.506          0.804          -1.482         0              0              0              35
   7  Book            0.715          0.569          -0.905         0              0              0              22
   8  Book            -0.260         0.569          -1.352         0              0              0              22
   9  KeyChain        1.409          0.060          -1.593         0              0              0              38
  10  TissueBox       1.085          0.519          -1.752         0              0              0              37
  11  TeddyBear       -0.075         0.562          -0.274         353.177        297.143        5.348          22
  12  Pencil          1.317          0.521          -1.712         0              0              0              37
  13  CreditCard      1.240          0.059          -1.635         0              180            0              38
  14  TennisRacket    -0.921         0.344          0.390          13.911         273.938        195.992        Floor|+00.39|
  15  Laptop          0.227          0.568          -1.129         0              0              0              22
  16  AlarmClock      2.307          0.798          -1.666         0              0              0              35
  17  Pen             2.904          0.804          -1.482         0              0              0              35
  18  Pillow          0.299          0.643          -1.557         0              0              0              22
  19  CellPhone       -0.260         0.570          -0.682         0              0              0              22
  20  CD              1.239          0.517          -1.712         0              0              0              37
  21  Mug             3.103          0.796          -1.358         0              0              0              35
  22  Bed             0.227          -0.003         -0.947         0              180            0
  23  Mirror          0.615          1.264          1.029          0              0              0
  24  GarbageCan      3.166          -0.011         -0.264         4.636          271.335        0
  25  DeskLamp        3.164          0.794          -1.664         0              315            0
  26  HousePlant      -0.833         0.000          0.843          0              0              0
  27  LightSwitch     2.010          1.126          1.029          0              180            0
  28  Window          1.794          1.677          -1.939         90             180            0
  29  Window          0.691          1.361          -1.938         90             180            0
  30  Dumbbell        2.628          0.001          -1.613         0              346.954        0
  31  Blinds          1.776          1.993          -1.858         0              0              0
  32  Blinds          0.670          1.993          -1.858         0              0              0
  33  Chair           2.255          0.004          -1.501         0              167.716        0
  34  Shelf           3.034          0.637          -1.580         0              0              0
  35  Desk            2.500          0.002          -1.596         0              0              0
  36  Drawer          1.240          0.354          -1.553         0              0              0
  37  SideTable       1.239          0.003          -1.551         0              0              0
  38  Drawer          1.240          0.126          -1.553         0              0              0
  39  NorthWall
  40  EastWall
  41  SouthWall
  42  WestWall

Plan:
STEP 1: walk over to the side of the bed. | STEP 2: pick up the round pillow from the bed | STEP 3: walk the pillow over to the lamp  | STEP 4: turn on the lamp to examine the pillow | END