Task: Examine the pillow in the light of the lamp on the table.

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            0.900          0.5            0              180            0
   1  Mug             2.039          0.894          -2.975         0              0              0              34
   2  CellPhone       -1.025         0.619          -2.261         0              0              0              21
   3  CellPhone       -2.394         0.680          -3.227         0              90             0              36
   4  CreditCard      -2.394         0.680          -0.668         0              90             0              43
   5  KeyChain        2.728          0.896          -3.113         0              0              0              34
   6  KeyChain        -2.530         0.681          -0.359         0              270            0              43
   7  Book            -1.591         0.618          -2.261         0              0              0              21
   8  CreditCard      -2.428         0.374          -0.514         0              270            0              45
   9  Pen             -2.575         0.686          -0.668         0              90             0              43
  10  Pencil          2.384          0.901          -3.182         0              0              0              34
  11  TeddyBear       -0.667         0.612          -1.364         0              81.467         0              21
  12  Laptop          -0.742         0.617          -2.061         0              0              0              21
  13  AlarmClock      2.638          1.232          1.397          0              270            0              41
  14  CellPhone       2.039          0.896          -3.320         0              0              0              34
  15  KeyChain        2.735          1.249          1.825          0              0              0              30
  16  Pillow          -2.124         0.658          -1.522         0              28.296         0              21
  17  Pillow          -2.378         0.637          -2.330         0              0              0              21
  18  CD              1.344          0.019          -3.310         0              0              0              25
  19  Mug             2.211          0.894          -3.044         0              0              0              34
  20  Bowl            1.840          0.889          -3.239         0              0              0              34
  21  Bed             -1.613         -0.028         -1.861         0              270            0
  22  DeskLamp        2.760          0.890          -3.317         0              90             0
  23  DeskLamp        -2.459         0.668          -0.532         0              90             0
  24  LightSwitch     -0.700         1.016          0.334          0              90             0
  25  GarbageCan      1.343          1.087          -3.374         0              0              0
  26  Mirror          0.532          1.419          2.0            0              0              0
  27  Window          -0.834         1.394          -3.653         90             0              0
  28  Window          2.958          1.508          -1.019         90             270            0
  29  Sofa            2.383          0.008          -0.288         0              270            0
  30  Safe            2.721          1.228          1.784          0              270            0
  31  Drawer          1.979          0.486          -2.988         0              0              0
  32  Drawer          1.979          0.728          -2.988         0              0              0
  33  Drawer          1.979          0.208          -2.988         0              0              0
  34  Desk            2.318          -0.009         -3.214         0              0              0
  35  Drawer          -2.349         0.163          -3.150         0              90             0
  36  SideTable       -2.416         -0.001         -3.149         0              90             0
  37  Drawer          -2.349         0.455          -3.150         0              90             0
  38  Drawer          2.641          0.172          1.511          0              270            0
  39  Drawer          2.641          1.002          1.511          0              270            0
  40  Drawer          2.641          0.448          1.511          0              270            0
  41  Dresser         2.676          0.002          1.511          0              270            0
  42  Drawer          2.641          0.725          1.511          0              270            0
  43  SideTable       -2.416         -0.001         -0.514         0              90             0
  44  Drawer          -2.349         0.163          -0.514         0              90             0
  45  Drawer          -2.349         0.455          -0.514         0              90             0
  46  Blinds          -0.800         2.087          -3.627         0              0              0
  47  Blinds          2.931          2.166          -1.0           0              270            0
  48  Chair           2.574          0.002          -2.881         0              175.162        0
  49  NorthWall
  50  EastWall
  51  SouthWall
  52  WestWall

Plan:
STEP 1: Turn right, head to the right side of the bed, turn left to face the pillow on the bed. | STEP 2: Pick up the pillow on the right side of the bed.  | STEP 3: Turn right, bring the pillow to the lamp on the small table. | STEP 4: Turn on the lamp on the table. | END