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           0.75           0.900          -2.75          0              0              0
   1  Mug             -2.484         0.679          -3.072         0              270            0              42
   2  Mug             -2.394         0.679          -3.227         0              90             0              42
   3  Bowl            2.384          0.898          -3.320         0              0              0              40
   4  CD              -2.484         0.680          -0.281         0              90             0              49
   5  CD              -2.394         0.680          -3.382         0              90             0              42
   6  CellPhone       2.713          0.092          1.764          0              270            0              44
   7  CellPhone       2.336          0.307          -0.742         0              0              0              35
   8  Pen             2.211          0.902          -3.182         0              0              0              40
   9  Pen             2.384          0.902          -3.113         0              0              0              40
  10  CreditCard      1.633          0.361          -3.063         0              0              0              37
  11  KeyChain        2.706          1.249          1.825          0              0              0              36
  12  Book            2.728          0.890          -3.113         0              0              0              54
  13  Book            -1.025         0.618          -2.061         0              0              0              27
  14  CreditCard      2.713          0.094          1.257          0              270            0              44
  15  Pen             1.344          0.025          -3.342         0              90             0              31
  16  Pencil          2.211          0.901          -3.320         0              0              0              40
  17  TeddyBear       -0.667         0.612          -1.364         0              81.467         0              27
  18  Laptop          -2.157         0.617          -1.861         0              0              0              27
  19  AlarmClock      -2.575         0.684          -3.304         0              90             0              42
  20  CellPhone       -2.530         0.680          -2.995         0              90             0              42
  21  KeyChain        2.039          0.896          -2.975         0              0              0              40
  22  Pillow          -1.591         0.680          -2.061         0              0              0              27
  23  Pillow          -2.378         0.637          -2.330         0              0              0              27
  24  CD              2.764          1.249          1.737          0              0              0              36
  25  Mug             1.694          0.894          -2.975         0              0              0              40
  26  Bowl            2.685          1.230          1.397          0              270            0              47
  27  Bed             -1.613         -0.028         -1.861         0              270            0
  28  DeskLamp        2.760          0.890          -3.317         0              90             0
  29  DeskLamp        -2.459         0.668          -0.532         0              90             0
  30  LightSwitch     -0.700         1.016          0.334          0              90             0
  31  GarbageCan      1.343          1.087          -3.374         0              0              0
  32  Mirror          0.532          1.419          2.0            0              0              0
  33  Window          -0.834         1.394          -3.653         90             0              0
  34  Window          2.958          1.508          -1.019         90             270            0
  35  Sofa            2.383          0.008          -0.288         0              270            0
  36  Safe            2.721          1.228          1.784          0              270            0
  37  Drawer          1.979          0.486          -2.988         0              0              0
  38  Drawer          1.979          0.728          -2.988         0              0              0
  39  Drawer          1.979          0.208          -2.988         0              0              0
  40  Desk            2.318          -0.009         -3.214         0              0              0
  41  Drawer          -2.349         0.163          -3.150         0              90             0
  42  SideTable       -2.416         -0.001         -3.149         0              90             0
  43  Drawer          -2.349         0.455          -3.150         0              90             0
  44  Drawer          2.641          0.172          1.511          0              270            0
  45  Drawer          2.641          1.002          1.511          0              270            0
  46  Drawer          2.641          0.448          1.511          0              270            0
  47  Dresser         2.676          0.002          1.511          0              270            0
  48  Drawer          2.641          0.725          1.511          0              270            0
  49  SideTable       -2.416         -0.001         -0.514         0              90             0
  50  Drawer          -2.349         0.163          -0.514         0              90             0
  51  Drawer          -2.349         0.455          -0.514         0              90             0
  52  Blinds          -0.800         2.087          -3.627         0              0              0
  53  Blinds          2.931          2.166          -1.0           0              270            0
  54  Chair           2.574          0.002          -2.881         0              175.162        0
  55  NorthWall
  56  EastWall
  57  SouthWall
  58  WestWall

Plan:
STEP 1: Turn left and head to the night stand that is on the left side of the bed, then turn right and face the side of the bed | STEP 2: Pick up the pillow that is on the left. | STEP 3: Turn right and walk to the end of the bed then turn left to go around the bed to the other side, walk to the night stand the is on the right side of the bed | STEP 4: Turn on the lamp that is sitting on the nightstand | END