Task: Examine a pillow under a light

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          0.901          -1.25          0              180            0
   1  CD              1.646          0.040          -2.078         0              88.075         0              50
   2  CD              0.201          0.971          -1.484         0              270            0              37
   3  CellPhone       1.538          0.043          -2.029         0              88.075         0              50
   4  CellPhone       1.700          0.043          -2.076         0              88.075         0              50
   5  Pen             0.201          0.976          -1.778         0              270            0              37
   6  Pen             -0.401         0.977          -1.705         0              270            0              37
   7  CreditCard      0.402          0.970          -1.557         0              270            0              37
   8  CreditCard      2.068          0.570          1.348          0              180            0              35
   9  Book            -0.581         0.037          -1.655         0              270            0              38
  10  Book            0.897          0.417          -0.247         0              0              0              47
  11  Box             -1.751         0.252          1.499          0              340.773        0              Floor|+00.00|
  12  Book            0.583          0.607          -1.656         0              270            0              42
  13  Cloth           -1.146         0.000          -2.123         0              0              0              Floor|+00.00|
  14  CellPhone       -0.200         0.974          -1.705         0              270            0              37
  15  Pencil          0.604          0.975          -1.852         0              270            0              37
  16  AlarmClock      -0.200         0.972          -1.852         0              270            0              37
  17  TeddyBear       -2.236         0.000          1.457          0              319.128        0              Floor|+00.00|
  18  CreditCard      2.298          0.572          1.294          0              180            0              35
  19  KeyChain        1.597          0.041          -2.184         0              178.075        0              50
  20  Pillow          1.640          0.477          0.252          0              0              0              47
  21  Pillow          2.15           0.433          -0.241         0              282.078        0              47
  22  Laptop          0.897          0.413          0.086          0              0              0              47
  23  Bowl            -0.602         0.972          -1.852         0              270            0              37
  24  Cloth           -1.288         0.000          -1.936         0              357.341        356.936        Floor|+00.00|
  25  CD              -0.200         0.970          -1.705         0              270            0              37
  26  Pen             -0.401         0.977          -1.484         0              180            0              37
  27  DeskLamp        2.302          0.561          1.435          0              315            0
  28  GarbageCan      -2.208         -0.023         -1.742         0              77.663         0
  29  Poster          2.439          1.508          0.014          90             270            0
  30  LightSwitch     -2.457         1.274          -0.096         0              90             0
  31  Mirror          2.454          1.322          -1.414         0              90             0
  32  Window          -1.440         1.815          -2.354         90             0              0
  33  Window          1.401          1.815          -2.354         90             0              0
  34  Drawer          2.251          0.468          1.333          0              270            0
  35  SideTable       2.243          -0.001         1.331          0              270            0
  36  Drawer          -0.385         0.681          -1.631         0              0              0
  37  Dresser         0.011          0.001          -1.676         0              0              0
  38  Drawer          -0.385         0.105          -1.631         0              0              0
  39  Drawer          0.408          0.868          -1.632         0              0              0
  40  Drawer          -0.385         0.487          -1.631         0              0              0
  41  Drawer          -0.385         0.868          -1.632         0              0              0
  42  Drawer          0.408          0.681          -1.631         0              0              0
  43  Drawer          0.408          0.105          -1.631         0              0              0
  44  Drawer          0.408          0.292          -1.631         0              0              0
  45  Drawer          -0.385         0.292          -1.631         0              0              0
  46  Drawer          0.408          0.487          -1.631         0              0              0
  47  Bed             1.377          0.004          0.072          0              90             0
  48  Blinds          1.422          3.115          -2.339         0              0              0
  49  Blinds          -1.422         3.115          -2.339         0              0              0
  50  Safe            1.640          0.000          -2.040         0              355.244        0
  51  LaundryHamper   -1.564         0.001          -1.927         0              45             0
  52  NorthWall
  53  EastWall
  54  SouthWall
  55  WestWall

Plan:
STEP 1: Turn left and cross the room to the mirror on the other side of the room, then turn left and face the bed | STEP 2: Pick up the white pillow that is sitting on the bed closest to you | STEP 3: Turn left and walk to the end of the bed, take a right at the end of the bed, then another right to go around the bed. Walk to the night stand that is sitting to the left of the bed | STEP 4: Turn on the lamp that is sitting on the lamp | END