Task: Look at a pillow under the light of 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           2.75           0.900          0.5            0              180            0
   1  Pen             -1.031         0.099          -1.381         0              0              0              25
   2  Pen             -0.078         0.901          -1.403         0              0              0              23
   3  Pencil          -0.948         0.899          -1.680         0              0              0              23
   4  Pencil          2.514          0.526          1.151          0              180            0              35
   5  CreditCard      0.253          0.941          -1.826         0              0              0              29
   6  CreditCard      0.784          0.941          -1.965         0              0              0              29
   7  KeyChain        2.267          0.066          1.152          0              90             0              36
   8  Book            3.152          0.777          -0.608         0              180            0              33
   9  AlarmClock      0.607          0.943          -1.854         0              0              0              29
  10  Laptop          2.603          0.774          -1.354         0              180            0              40
  11  Laptop          2.054          0.774          -0.906         0              180            0              33
  12  Book            -0.774         0.901          -1.403         0              0              0              23
  13  Pen             2.359          0.530          1.231          0              180            0              35
  14  AlarmClock      0.961          0.943          -1.937         0              0              0              29
  15  TeddyBear       1.324          0.827          -0.763         56.834         332.692        298.236        40
  16  CellPhone       -0.426         0.902          -1.403         0              0              0              23
  17  Pencil          -0.252         0.904          -1.680         0              0              0              23
  18  Pillow          3.173          0.804          -0.932         0              0              0              40
  19  Laptop          3.152          0.774          -1.354         0              180            0              40
  20  KeyChain        0.430          0.941          -1.854         0              0              0              29
  21  CreditCard      -1.122         0.900          -1.680         0              0              0              23
  22  CD              2.668          0.522          1.231          0              180            0              35
  23  Desk            -0.503         0.006          -1.465         0              0              0
  24  Drawer          -0.945         0.493          -1.176         0              0              0
  25  Drawer          -0.946         0.212          -1.176         0              0              0
  26  Drawer          -0.944         0.739          -1.176         0              0              0
  27  DeskLamp        -0.124         0.899          -1.731         0              0              0
  28  LightSwitch     3.513          1.253          0.165          0              270            0
  29  Shelf           0.759          0.934          -1.909         0              0              0
  30  Mirror          2.407          1.294          1.401          0              0              0
  31  GarbageCan      3.347          -0.000         -0.027         0              270            0
  32  Window          0.717          1.603          -2.108         90             0              0
  33  Bed             2.301          0.005          -1.056         0              270            0
  34  Blinds          0.749          2.523          -2.022         0              0              0
  35  SideTable       2.436          0.002          1.143          0              180            0
  36  Drawer          2.437          0.122          1.154          0              180            0
  37  Drawer          2.437          0.350          1.153          0              180            0
  38  LaundryHamper   0.359          0.006          -1.505         0              280.399        358.305
  39  Chair           -0.308         0.009          -1.108         0              166.824        0
  40
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: Walk forward to the bed. | STEP 2: Pick up the blue pillow from the bed. | STEP 3: Turn right and walk to the end of the bed then turn left and walk to the window, then turn right to face the lamp on the corner of the desk. | STEP 4: Turn the lamp on. | END