Task: Examine a pillow by the light of a table 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           0.900          0.75           0              270            0
   1  CellPhone       0.323          0.678          -1.586         0              0              0              41
   2  CellPhone       -1.283         1.824          -1.344         0              0              0              29
   3  CreditCard      0.504          0.673          -1.586         0              0              0              41
   4  CreditCard      -1.309         1.822          -1.431         0              0              0              29
   5  KeyChain        -1.256         1.459          -0.603         0              0              0              27
   6  KeyChain        -1.052         0.793          -0.600         0              0              0              42
   7  Book            0.953          0.578          -0.408         0              0              0              43
   8  Book            -1.265         0.794          -0.385         0              180            0              42
   9  Pencil          -0.670         0.796          -1.760         0              0              0              42
  10  Laptop          1.243          0.574          -0.408         0              0              0              21
  11  Pen             -1.194         0.798          -1.243         0              0              0              42
  12  TennisRacket    -1.226         0.301          -0.069         15.000         180            180
  13  TeddyBear       1.629          0.557          -1.064         0              118.287        0              43
  14  Pillow          1.215          0.641          -1.663         0              0              0              21
  15  CellPhone       -1.265         0.794          -0.600         0              0              0              42
  16  KeyChain        0.419          0.374          1.238          0              0              0              36
  17  AlarmClock      -0.964         0.794          -1.568         0              0              0              42
  18  CreditCard      0.305          0.082          1.191          0              0              0              35
  19  CD              -1.052         0.792          -1.243         0              0              0              42
  20  Bowl            -1.283         1.824          -0.778         0              0              0              28
  21  Bed             1.242          -0.001         -0.881         0              180            0
  22  LightSwitch     0.010          1.315          1.499          0              180            0
  23  GarbageCan      0.840          0.007          1.337          0              180            2.168
  24  HousePlant      -0.083         0.828          -2.045         0              0              0
  25  Shelf           -0.469         0.828          -2.038         0              0              0
  26  Shelf           -1.286         1.451          -1.343         0              0              0
  27  Shelf           -1.286         1.451          -0.602         0              0              0
  28  Shelf           -1.286         1.814          -0.602         0              0              0
  29  Shelf           -1.286         1.814          -1.343         0              0              0
  30  Painting        1.111          1.628          -1.865         90             0              0
  31  DeskLamp        0.473          0.669          1.350          0              0              0
  32  Mirror          -1.383         1.565          0.512          0              270            0
  33  Window          -0.472         1.396          -2.252         90             0              0
  34  SideTable       0.304          -0.001         1.225          0              180            0
  35  Drawer          0.304          0.165          1.159          0              180            0
  36  Drawer          0.304          0.457          1.159          0              180            0
  37  Blinds          -0.453         2.156          -2.242         0              0              0
  38  Safe            1.623          5.960          0.448          0              270            0
  39  Chair           -0.683         0.000          -1.326         0              217.223        0
  40  Drawer          0.416          0.532          -1.553         0              0              0
  41  SideTable       0.413          0.000          -1.684         0              0              0
  42  Desk            -0.788         0.000          -1.032         0              90             0
  43
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: Turn left and go to the desk then turn left and go as far as the bed then turn right and go alongside the bed to the nightstand then turn left to face the nightstand | STEP 2: Pick up the pillow from the bed | STEP 3: Turn left and go past the end of the bed then turn right and go to the safe then turn left and go to the table with the lamp on it | STEP 4: Turn on the lamp | END