Task: Hold a pillow and turn on 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           1.25           0.900          0.0            0              270            0
   1  Mug             2.705          0.796          -1.482         0              0              0              35
   2  CellPhone       1.909          0.798          -1.482         0              0              0              35
   3  CreditCard      1.909          0.798          -1.605         0              0              0              35
   4  KeyChain        2.931          0.547          -1.464         0              0              0              34
   5  KeyChain        1.240          0.517          -1.591         0              180            0              37
   6  Laptop          0.227          0.568          -0.459         0              0              0              22
   7  Laptop          0.552          0.568          -1.129         0              0              0              22
   8  Book            -0.097         0.569          -1.352         0              0              0              22
   9  KeyChain        1.239          0.517          -1.752         0              180            0              37
  10  TissueBox       1.394          0.519          -1.712         0              0              0              37
  11  TeddyBear       -0.075         0.562          -0.274         353.177        297.143        5.348          22
  12  Pencil          2.705          0.803          -1.666         0              0              0              35
  13  CreditCard      3.210          0.545          -1.486         0              0              0              34
  14  TennisRacket    -0.921         0.344          0.390          13.911         273.938        195.992        Floor|+00.39|
  15  Laptop          2.362          0.791          -1.54          0              0              0              35
  16  AlarmClock      1.108          0.510          -1.673         0              345.196        0              37
  17  Pen             3.098          0.551          -1.375         0              0              0              34
  18  Pillow          0.299          0.643          -1.557         0              0              0              22
  19  CellPhone       0.552          0.570          -1.352         0              0              0              22
  20  CD              2.904          0.797          -1.605         0              0              0              35
  21  Mug             2.059          0.791          -1.681         0              18.478         0              35
  22  Bed             0.227          -0.003         -0.947         0              180            0
  23  Mirror          0.615          1.264          1.029          0              0              0
  24  GarbageCan      3.166          -0.011         -0.264         4.636          271.335        0
  25  DeskLamp        3.164          0.794          -1.664         0              315            0
  26  HousePlant      -0.833         0.000          0.843          0              0              0
  27  LightSwitch     2.010          1.126          1.029          0              180            0
  28  Window          1.794          1.677          -1.939         90             180            0
  29  Window          0.691          1.361          -1.938         90             180            0
  30  Dumbbell        2.628          0.001          -1.613         0              346.954        0
  31  Blinds          1.776          1.993          -1.858         0              0              0
  32  Blinds          0.670          1.993          -1.858         0              0              0
  33  Chair           2.255          0.004          -1.501         0              167.716        0
  34  Shelf           3.034          0.637          -1.580         0              0              0
  35  Desk            2.500          0.002          -1.596         0              0              0
  36  Drawer          1.240          0.354          -1.553         0              0              0
  37  SideTable       1.239          0.003          -1.551         0              0              0
  38  Drawer          1.240          0.126          -1.553         0              0              0
  39  NorthWall
  40  EastWall
  41  SouthWall
  42  WestWall

Plan:
STEP 1: Turn to the left and move to the end of the bed. Face the bed on the right. | STEP 2: Pick up the pillow from the left side of the bed. | STEP 3: Hold the pillow and turn to the right and then turn right to face the desk. | STEP 4: Hold the pillow and turn on the lamp that is on the left side of the desk. | END