Task: Look at a blue pillow under a lit lamp.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.75           0.900          0.5            0              180            0
   1  Pen             -1.031         0.099          -1.381         0              0              0              25
   2  Pen             -0.078         0.901          -1.403         0              0              0              23
   3  Pencil          -0.948         0.899          -1.680         0              0              0              23
   4  Pencil          2.514          0.526          1.151          0              180            0              35
   5  CreditCard      0.253          0.941          -1.826         0              0              0              29
   6  CreditCard      0.784          0.941          -1.965         0              0              0              29
   7  KeyChain        2.267          0.066          1.152          0              90             0              36
   8  Book            3.152          0.777          -0.608         0              180            0              33
   9  AlarmClock      0.607          0.943          -1.854         0              0              0              29
  10  Laptop          2.603          0.774          -1.354         0              180            0              40
  11  Laptop          2.054          0.774          -0.906         0              180            0              33
  12  Book            -0.774         0.901          -1.403         0              0              0              23
  13  Pen             2.359          0.530          1.231          0              180            0              35
  14  AlarmClock      0.961          0.943          -1.937         0              0              0              29
  15  TeddyBear       1.324          0.827          -0.763         56.834         332.692        298.236        40
  16  CellPhone       -0.426         0.902          -1.403         0              0              0              23
  17  Pencil          -0.252         0.904          -1.680         0              0              0              23
  18  Pillow          3.173          0.804          -0.932         0              0              0              40
  19  Laptop          3.152          0.774          -1.354         0              180            0              40
  20  KeyChain        0.430          0.941          -1.854         0              0              0              29
  21  CreditCard      -1.122         0.900          -1.680         0              0              0              23
  22  CD              2.668          0.522          1.231          0              180            0              35
  23  Desk            -0.503         0.006          -1.465         0              0              0
  24  Drawer          -0.945         0.493          -1.176         0              0              0
  25  Drawer          -0.946         0.212          -1.176         0              0              0
  26  Drawer          -0.944         0.739          -1.176         0              0              0
  27  DeskLamp        -0.124         0.899          -1.731         0              0              0
  28  LightSwitch     3.513          1.253          0.165          0              270            0
  29  Shelf           0.759          0.934          -1.909         0              0              0
  30  Mirror          2.407          1.294          1.401          0              0              0
  31  GarbageCan      3.347          -0.000         -0.027         0              270            0
  32  Window          0.717          1.603          -2.108         90             0              0
  33  Bed             2.301          0.005          -1.056         0              270            0
  34  Blinds          0.749          2.523          -2.022         0              0              0
  35  SideTable       2.436          0.002          1.143          0              180            0
  36  Drawer          2.437          0.122          1.154          0              180            0
  37  Drawer          2.437          0.350          1.153          0              180            0
  38  LaundryHamper   0.359          0.006          -1.505         0              280.399        358.305
  39  Chair           -0.308         0.009          -1.108         0              166.824        0
  40
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: Walk forward towards the bed. | STEP 2: Pick up the blue pillow from the bed. | STEP 3: Make a right, walk forward, then hang a left to reach the desk. | STEP 4: Turn on the lamp on the desk. | END