Task: Look at a pillow by 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           -0.5           0.900          0.25           0              0              0
   1  Mug             3.210          0.543          -1.419         0              0              0              33
   2  CellPhone       1.471          0.516          -1.752         0              0              0              36
   3  CellPhone       2.108          0.798          -1.482         0              0              0              34
   4  Pen             2.931          0.551          -1.464         0              0              0              33
   5  KeyChain        1.070          0.284          -1.635         0              180            0              35
   6  Laptop          -0.097         0.568          -1.352         0              0              0              21
   7  Book            0.715          0.569          -1.129         0              0              0              21
   8  KeyChain        2.705          0.799          -1.543         0              90             0              34
   9  TissueBox       1.317          0.519          -1.631         0              0              0              36
  10  TeddyBear       -0.075         0.562          -0.274         353.177        297.143        5.348          21
  11  Pencil          3.043          0.551          -1.441         0              0              0              33
  12  CreditCard      2.506          0.798          -1.543         0              0              0              34
  13  TennisRacket    -0.921         0.344          0.390          13.911         273.938        195.992        Floor|+00.39|
  14  Laptop          0.552          0.568          -0.236         0              0              0              21
  15  AlarmClock      2.108          0.798          -1.666         0              0              0              34
  16  Pen             2.307          0.804          -1.420         0              0              0              34
  17  Pillow          0.299          0.643          -1.557         0              0              0              21
  18  CellPhone       1.909          0.798          -1.420         0              0              0              34
  19  CD              1.352          0.058          -1.593         0              180            0              37
  20  Mug             2.506          0.796          -1.358         0              0              0              34
  21  Bed             0.227          -0.003         -0.947         0              180            0
  22  Mirror          0.615          1.264          1.029          0              0              0
  23  GarbageCan      3.166          -0.011         -0.264         4.636          271.335        0
  24  DeskLamp        3.164          0.794          -1.664         0              315            0
  25  HousePlant      -0.833         0.000          0.843          0              0              0
  26  LightSwitch     2.010          1.126          1.029          0              180            0
  27  Window          1.794          1.677          -1.939         90             180            0
  28  Window          0.691          1.361          -1.938         90             180            0
  29  Dumbbell        2.628          0.001          -1.613         0              346.954        0
  30  Blinds          1.776          1.993          -1.858         0              0              0
  31  Blinds          0.670          1.993          -1.858         0              0              0
  32  Chair           2.255          0.004          -1.501         0              167.716        0
  33  Shelf           3.034          0.637          -1.580         0              0              0
  34  Desk            2.500          0.002          -1.596         0              0              0
  35  Drawer          1.240          0.354          -1.553         0              0              0
  36  SideTable       1.239          0.003          -1.551         0              0              0
  37  Drawer          1.240          0.126          -1.553         0              0              0
  38  NorthWall
  39  EastWall
  40  SouthWall
  41  WestWall

Plan:
STEP 1: Turn right and then follow the edge of the bed to the head. | STEP 2: Pick up the round pillow on the bed. | STEP 3: Turn around and walk to the far side of the desk. | STEP 4: Turn on the lamp on the desk. | END