Task: Examine 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           1.0            0.902          -2.0           0              0              0
   1  Mug             1.842          0.798          -1.655         0              0              0              44
   2  CellPhone       1.586          0.333          -1.464         0              0              0              36
   3  CellPhone       1.726          0.014          -1.638         0              0              0              41
   4  CreditCard      1.540          0.655          -1.202         0              0              0              37
   5  CreditCard      0.306          0.354          -2.581         0              0              0              50
   6  KeyChain        1.842          0.803          -2.031         0              0              0              44
   7  Laptop          -0.818         0.693          -0.146         0              0              0              24
   8  Pillow          -0.088         0.755          -0.146         0              0              0              24
   9  Book            -1.436         0.671          0.115          0              300.000        0              24
  10  KeyChain        1.597          0.801          -2.031         0              0              0              44
  11  AlarmClock      0.069          0.665          -2.578         0              0              0              49
  12  CreditCard      0.427          0.673          -2.589         0              0              0              49
  13  Laptop          -1.548         0.693          -0.36          0              0              0              24
  14  Pen             0.264          0.193          -2.547         0              0              0              54
  15  Pencil          1.680          0.504          -1.289         0              0              0              38
  16  BaseballBat     -1.844         0.678          -2.203         0              0              8.760          Floor|+00.01|
  17  Pillow          -0.331         0.755          -0.573         0              0              0              24
  18  Pillow          -0.818         0.755          -0.787         0              0              0              24
  19  TennisRacket    -1.597         0.001          -1.367         90             37.792         0              Floor|+00.01|
  20  CellPhone       1.536          0.801          -1.655         0              0              0              44
  21  CD              1.719          0.799          -1.279         0              0              0              37
  22  Mug             1.658          0.799          -2.219         0              0              0              44
  23  Mirror          3.534          1.661          -0.277         0              90             0
  24  Bed             -0.842         -0.000         -0.361         0              270            0
  25  DeskLamp        1.742          0.819          -1.394         0              358.556        0
  26  Painting        0.246          1.564          -2.665         90             0              0
  27  Painting        1.894          1.549          -2.424         90             270            0
  28  Painting        1.894          1.549          -1.289         90             270            0
  29  GarbageCan      3.378          0.000          0.220          0              0              0
  30  LightSwitch     -0.078         1.219          1.298          0              180            0
  31  Window          -0.486         1.409          -2.691         90             0              0
  32  Window          0.987          1.409          -2.691         90             0              0
  33  VacuumCleaner   -1.649         0.010          -2.440         0              42.426         0
  34  Blinds          -0.490         2.130          -2.638         0              0              0
  35  Blinds          1.011          2.130          -2.638         0              0              0
  36  Drawer          1.596          0.411          -1.459         0              270            0
  37  Drawer          1.597          0.732          -1.459         0              270            0
  38  Drawer          1.597          0.574          -1.459         0              270            0
  39  Drawer          1.597          0.732          -2.202         0              270            0
  40  Drawer          1.596          0.247          -1.459         0              270            0
  41  Drawer          1.596          0.090          -1.459         0              270            0
  42  Drawer          1.596          0.247          -2.202         0              270            0
  43  Drawer          1.596          0.411          -2.202         0              270            0
  44  Dresser         1.634          0.003          -1.830         0              270            0
  45  Drawer          1.596          0.090          -2.202         0              270            0
  46  Drawer          1.597          0.574          -2.202         0              270            0
  47  ShelvingUnit    0.249          0.003          -2.519         0              0              0
  48  Shelf           0.017          0.178          -2.511         0              0              0
  49  Shelf           0.249          0.665          -2.519         0              0              0
  50  Shelf           0.243          0.344          -2.511         0              0              0
  51  Shelf           0.474          0.344          -2.511         0              0              0
  52  Shelf           0.355          0.011          -2.511         0              0              0
  53  Shelf           0.016          0.011          -2.511         0              0              0
  54  Shelf           0.357          0.178          -2.511         0              0              0
  55  NorthWall
  56  EastWall
  57  SouthWall
  58  WestWall

Plan:
STEP 1: head forward then turn left and face the end of the bed | STEP 2: Pick up the middle green pillow.  | STEP 3: Turn around and head forward then turn right and face the side of the dresser | STEP 4: Turn on the lamp that is sitting on the dresser | END