Task: Pick up a pillow and turn a lamp on.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.5           0.909          -3.0           0              180            0
   1  Mug             -3.687         0.977          -4.276         0              90             0              47
   2  Mug             -1.270         0.801          -4.354         0              0              0              44
   3  Pen             -0.862         0.805          -3.811         0              90             0              44
   4  Pen             -3.694         0.424          -3.277         0              0              0              55
   5  Pencil          -1.878         0.065          -3.920         0              9.990          0              33
   6  Pencil          -1.270         0.807          -4.246         0              0              0              44
   7  CreditCard      -1.066         0.803          -4.246         0              0              0              44
   8  KeyChain        -1.066         0.800          -4.354         0              0              0              44
   9  KeyChain        -3.760         0.980          -3.271         0              270            0              47
  10  Book            -3.694         0.226          -2.999         0              270            0              49
  11  Book            -3.834         0.981          -3.673         0              0              0              47
  12  Pillow          -2.559         0.722          -1.506         0              0              0              29
  13  Pillow          -2.981         0.722          -0.931         0              0              0              29
  14  AlarmClock      -3.834         0.979          -4.276         0              0              0              47
  15  AlarmClock      -0.862         0.803          -4.246         0              0              0              44
  16  Book            -3.582         0.226          -4.349         0              90             0              51
  17  CellPhone       -1.270         0.800          -3.703         0              0              0              44
  18  Laptop          -3.687         0.977          -3.070         0              0              0              47
  19  CreditCard      -0.507         0.542          -3.676         0              0              0              38
  20  AlarmClock      -3.834         0.979          -3.472         0              0              0              47
  21  KeyChain        -3.526         0.227          -3.278         0              0              0              49
  22  TeddyBear       -2.567         0.575          -0.386         357.948        14.682         7.781          29
  23  BaseballBat     -1.155         0.033          -3.997         90             59.999         0              Floor|-01.88|
  24  Pencil          -1.874         0.065          -3.897         0              9.990          0              33
  25  Pillow          -3.335         0.681          -0.415         0              0              0              29
  26  CD              -3.750         0.225          -3.884         0              0              0              51
  27  Pen             -3.613         0.986          -3.874         0              0              0              47
  28  Mug             -0.240         0.541          -3.694         0              0              0              38
  29  Bed             -2.980         0.009          -1.177         0              0              0
  30  LightSwitch     -1.620         1.351          0.0            0              180            0
  31  DeskLamp        -1.529         0.790          -4.298         0              0              0
  32  Mirror          -0.002         1.251          -2.592         0              90             0
  33  GarbageCan      -1.843         -0.017         -3.897         0              279.992        0
  34  Window          0.209          1.180          -1.504         90             270            0
  35  Drawer          -0.503         0.067          -4.188         0              180            0
  36  Drawer          -0.502         0.226          -3.799         0              0              0
  37  Drawer          -0.502         0.385          -3.799         0              0              0
  38  CoffeeTable     -0.503         0.009          -3.990         0              0              0
  39  Drawer          -0.502         0.067          -3.799         0              0              0
  40  Blinds          0.163          2.196          -1.495         0              270            0
  41  TableTopDecor   -3.586         0.996          -3.055         0              180            0
  42  Drawer          -0.503         0.385          -4.188         0              180            0
  43  Drawer          -0.503         0.226          -4.188         0              180            0
  44  Desk            -0.862         0.006          -4.028         0              0              0
  45  Drawer          -3.609         0.876          -4.055         0              90             0
  46  Drawer          -3.608         0.112          -3.261         0              90             0
  47  Dresser         -3.653         0.008          -3.658         0              90             0
  48  Drawer          -3.609         0.688          -3.261         0              90             0
  49  Drawer          -3.609         0.300          -3.261         0              90             0
  50  Drawer          -3.609         0.494          -4.055         0              90             0
  51  Drawer          -3.609         0.300          -4.055         0              90             0
  52  Drawer          -3.608         0.112          -4.055         0              90             0
  53  Drawer          -3.609         0.688          -4.055         0              90             0
  54  Drawer          -3.609         0.876          -3.261         0              90             0
  55  Drawer          -3.609         0.494          -3.261         0              90             0
  56  NorthWall
  57  EastWall
  58  SouthWall
  59  WestWall

Plan:
STEP 1: Turn left and then left again and the turn to face the bed. | STEP 2: Pick the pillow closest to the edge up from the bed. | STEP 3: Turn left and then turn to the left to face the lamp on the white table. | STEP 4: Turn the lamp on. | END