Task: get a pillow from the bed, take it to the nightstand and turn on the lamp

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.5            0.902          1.25           0              0              0
   1  CellPhone       -0.595         0.730          1.232          0              0              0              22
   2  Pen             -0.440         0.433          -1.668         0              0              0              38
   3  Pen             2.655          0.820          0.808          39.819         90             0              52
   4  KeyChain        2.694          0.193          -0.128         0              0              0              49
   5  AlarmClock      -0.708         0.046          -1.724         0              0              0              34
   6  AlarmClock      2.703          0.821          0.623          0              270            0              52
   7  Pillow          -0.016         0.809          0.702          0              0              0              22
   8  Box             0.252          0.227          -2.042         0              29.078         0
   9  Book            2.554          0.033          -0.041         0              0              0              54
  10  Statue          0.688          0.838          -2.414         0              0              0              36
  11  CellPhone       -0.016         0.730          0.967          0              0              0              22
  12  Pillow          0.148          0.744          1.738          0              195.270        0              22
  13  Pillow          -0.441         0.738          1.64           0              348.951        0              22
  14  BasketBall      -1.231         0.121          -0.18          0              0              0
  15  CreditCard      2.647          0.353          -0.390         0              0              0              48
  16  KeyChain        2.601          0.354          0.046          0              0              0              48
  17  Pencil          2.703          0.823          0.054          0              270            0              52
  18  AlarmClock      2.456          0.819          0.812          0              270            0              52
  19  Laptop          -0.535         0.781          0.402          0              59.999         0              22
  20  CD              2.579          0.819          0.244          0              270            0              52
  21  Pen             2.579          0.825          0.054          0              270            0              52
  22  Bed             -0.209         -0.001         0.983          0              0              0
  23  LightSwitch     0.778          1.266          2.128          0              180            0
  24  GarbageCan      -1.357         -0.020         -0.928         0              0              0
  25  Painting        2.063          1.674          -1.865         83.723         0              0
  26  HousePlant      -0.808         0.953          -1.730         0              0              0
  27  Painting        1.871          0.393          -1.792         79.235         0              0
  28  Mirror          2.842          1.404          1.375          0              90             0
  29  DeskLamp        2.676          0.819          0.878          0              0              0
  30  Window          -1.700         1.444          -0.542         90             90             0
  31  Window          0.535          1.412          -2.618         90             0              0
  32  Shelf           -0.904         0.824          -1.754         0              0              0
  33  Shelf           -0.802         0.981          -1.756         0              0              0
  34  Shelf           -0.904         0.555          -1.754         0              0              0
  35  Shelf           -0.327         0.225          -1.754         0              0              0
  36  Shelf           -0.439         0.822          -1.754         0              0              0
  37  Shelf           -0.619         0.981          -1.754         0              0              0
  38  Shelf           -0.439         0.556          -1.754         0              0              0
  39  Shelf           -0.709         0.225          -1.754         0              0              0
  40  ShelvingUnit    -0.641         0.006          -1.745         0              0              0
  41  Stool           0.799          0.004          -2.105         0              0              0
  42  Blinds          0.542          2.135          -2.553         0              0              0
  43  Blinds          -1.645         2.145          -0.546         0              90             0
  44  Drawer          2.518          0.574          0.623          0              270            0
  45  Drawer          2.517          0.411          0.623          0              270            0
  46  Drawer          2.518          0.732          0.623          0              270            0
  47  Drawer          2.518          0.732          -0.119         0              270            0
  48  Drawer          2.517          0.411          -0.119         0              270            0
  49  Drawer          2.517          0.247          -0.119         0              270            0
  50  Drawer          2.517          0.090          0.623          0              270            0
  51  Drawer          2.517          0.247          0.623          0              270            0
  52  Dresser         2.555          0.003          0.252          0              270            0
  53  Drawer          2.518          0.574          -0.119         0              270            0
  54  Drawer          2.517          0.090          -0.119         0              270            0
  55  NorthWall
  56  EastWall
  57  SouthWall
  58  WestWall

Plan:
STEP 1: turn around and walk straight to the side of the bed | STEP 2: pick up the pillow furthest from you on the right | STEP 3: walk the pillow over the lamp on the nightstand | STEP 4: turn on the lamp while holding the pillow | END