Task: Examine a pillow by the light of a small 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          -1.25          0              180            0
   1  CD              -0.245         0.088          -0.285         0              0              0              38
   2  CellPhone       -0.148         0.552          1.263          0              0              0              24
   3  CellPhone       -0.509         0.926          -0.604         0              0              0              39
   4  CreditCard      2.145          0.461          -0.484         0              0              0              32
   5  KeyChain        -0.297         0.376          -0.469         0              0              0              37
   6  KeyChain        -0.603         0.925          -1.459         0              0              0              39
   7  Book            0.012          0.551          0.971          0              0              0              24
   8  Book            -0.131         0.926          -1.245         0              0              0              39
   9  Laptop          0.333          0.548          2.433          0              0              0              24
  10  Pillow          -0.148         0.617          0.678          0              0              0              24
  11  Pillow          0.172          0.617          1.263          0              0              0              24
  12  Box             2.15           0.14           0.494          0              12.243         0
  13  Book            -0.192         0.377          -0.469         0              0              0              37
  14  BasketBall      -0.235         0.120          0.166          0              0              0
  15  Pen             2.195          0.467          -0.190         0              90             0              32
  16  Pillow          -0.025         0.561          2.458          0              0              0              24
  17  Pencil          -0.402         0.379          -0.469         0              0              0              38
  18  CellPhone       0.333          0.552          2.140          0              0              0              24
  19  KeyChain        2.238          0.843          -0.484         0              0              0              34
  20  CreditCard      2.120          0.094          -0.581         0              0              0              33
  21  AlarmClock      2.303          0.836          -0.829         0              285.000        0              34
  22  CD              2.285          0.842          -0.221         0              0              0              32
  23  Laptop          -0.428         0.919          -0.901         0              20.959         0              39
  24  Bed             0.009          -0.004         1.577          0              0              0
  25  DeskLamp        -0.669         0.923          -0.062         0              90             0
  26  Painting        -0.787         1.809          -0.215         90             270            0
  27  Painting        -0.787         1.809          1.023          90             270            0
  28  Mirror          2.118          1.277          2.749          0              0              0
  29  LightSwitch     0.726          1.200          2.75           0              180            0
  30  GarbageCan      2.257          -0.008         2.603          353.970        0              0
  31  Window          0.665          1.356          -1.911         90             0              0
  32  Drawer          2.119          0.576          -0.491         4.458          270            0
  33  Drawer          2.147          0.213          -0.491         4.458          270            0
  34  SideTable       2.226          0.013          -0.492         4.458          270            0
  35  Chair           0.170          0.011          -1.214         0              261.719        0
  36  Blinds          0.695          1.983          -1.867         0              0              0
  37  Drawer          -0.079         0.513          -0.394         0              90             0
  38  Drawer          -0.079         0.226          -0.394         0              90             0
  39  Desk            -0.391         0.001          -0.811         0              90             0
  40  Drawer          -0.079         0.762          -0.394         0              90             0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: Turn around and walk to the bed to the left ahead. | STEP 2: Pick up the purple pillow near the end of the bed on the left side. | STEP 3: Turn left to face the small lamp on the right corner of the wooden desk. | STEP 4: Turn on the small lamp on the desk. | END