Task: Examine the middle pillow from the bed under 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           -0.25          0.901          0.75           0              270            0
   1  Pen             1.679          0.717          0.796          0              270            0              44
   2  Pen             -1.695         0.646          0.057          0              180            0              41
   3  Pencil          -1.695         0.644          0.291          0              180            0              41
   4  Pencil          -1.628         0.069          1.448          0              270            0              38
   5  CreditCard      -1.814         1.071          1.209          0              270            0              40
   6  CreditCard      -1.575         0.065          1.515          0              270            0              39
   7  KeyChain        -1.787         0.066          1.515          0              270            0              39
   8  Book            -1.301         0.540          -0.830         0              0              0              25
   9  Pillow          -0.344         0.618          -0.830         0              0              0              25
  10  Pillow          -1.062         0.618          -0.408         0              0              0              25
  11  Book            1.408          0.711          0.215          0              270            0              44
  12  AlarmClock      1.679          0.711          0.215          0              270            0              44
  13  BasketBall      1.510          0.120          -0.105         0              0              0
  14  TeddyBear       -1.7           0.475          -0.331         0              225            0              25
  15  TennisRacket    1.551          0.000          0.654          270            336.082        0
  16  Pen             -1.814         1.077          1.492          0              270            0              40
  17  Pencil          1.769          0.715          0.409          0              270            0              44
  18  KeyChain        -1.749         0.675          1.206          0              0              0              41
  19  CreditCard      -1.840         0.065          1.581          0              270            0              39
  20  Laptop          1.498          0.709          0.602          0              270            0              44
  21  CellPhone       -1.734         0.507          1.381          0              270            0              37
  22  Pillow          -1.757         0.569          -0.768         0              285.000        0              25
  23  CD              -1.906         1.071          1.067          0              270            0              40
  24  Curtains        1.865          2.039          -0.495         0              0              0
  25  Bed             -1.037         0.009          -0.690         0              270            0
  26  Mirror          0.549          1.494          1.880          0              0              0
  27  Curtains        0.486          2.035          -1.853         0              90             0
  28  GarbageCan      1.683          -0.018         1.670          0              270            0
  29  LightSwitch     -0.119         1.317          1.853          0              180            0
  30  DeskLamp        -1.845         1.057          0.756          0              0              0
  31  Window          1.932          1.409          -0.507         90             270            0
  32  Window          0.481          1.411          -1.932         90             0              0
  33  SideTable       0.626          0.0            -1.705         0              0              0
  34  Footstool       0.176          0.006          -0.358         0              0              0
  35  Dumbbell        1.596          0.715          0.772          0              0              0
  36  Dumbbell        1.776          0.717          0.772          0              0              0
  37  Shelf           -1.700         0.573          1.540          0              90             0
  38  Shelf           -1.700         0.156          1.540          0              90             0
  39  Shelf           -1.700         0.377          1.540          0              90             0
  40  Shelf           -1.839         1.084          1.235          0              90             0
  41  Desk            -1.722         0.003          0.920          0              90             0
  42  Footstool       0.175          0.004          -0.652         0              0              0
  43  GarbageBag      1.624          0.319          -1.609         270            90             83.418
  44  Desk            1.519          1.823          0.385          0              270            0
  45  Chair           -1.459         0.003          0.929          0              292.527        0
  46  NorthWall
  47  EastWall
  48  WestWall

Plan:
STEP 1: Walk over to the wooden desk, then turn left and walk up to the bed. | STEP 2: Pick up the middle pillow off of the bed. | STEP 3: Turn around and take a step, then turn left to face the desk. | STEP 4: Turn on the small lamp that is on top of the wooden desk. | END