Task: Pick up 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           2.0            0.900          2.25           0              90             0
   1  CellPhone       2.238          0.844          -0.090         0              0              0              35
   2  CellPhone       -0.351         0.669          -0.561         0              0              0              41
   3  Pen             -0.245         0.094          -0.285         0              0              0              39
   4  Pen             2.190          0.848          -0.877         0              0              0              35
   5  Pencil          2.225          0.052          2.606          0              0              0              31
   6  Pencil          2.282          0.052          2.634          0              0              0              31
   7  CreditCard      2.238          0.842          -0.221         0              0              0              35
   8  KeyChain        -0.509         0.925          -0.391         0              0              0              40
   9  KeyChain        -0.603         0.925          -0.177         0              180            0              40
  10  Book            -0.320         0.926          -1.032         0              0              0              40
  11  Laptop          -0.148         0.548          2.140          0              0              0              25
  12  Laptop          0.333          0.548          1.848          0              0              0              25
  13  Box             2.15           0.14           0.494          0              12.243         0
  14  Book            -0.349         0.089          -0.469         0              0              0              39
  15  BasketBall      -0.235         0.120          0.166          0              0              0
  16  Pen             -0.225         0.930          -1.245         0              0              0              40
  17  Pillow          0.172          0.617          0.971          0              0              0              25
  18  Pencil          2.195          0.462          -0.190         0              0              0              33
  19  CellPhone       -0.603         0.926          -1.032         0              0              0              40
  20  KeyChain        2.285          0.843          -0.615         0              0              0              35
  21  CreditCard      2.170          0.461          -0.777         0              0              0              33
  22  AlarmClock      -0.320         0.925          -0.177         0              0              0              40
  23  CD              2.145          0.094          -0.679         0              0              0              34
  24  Laptop          -0.309         0.548          0.678          0              0              0              25
  25  Bed             0.009          -0.004         1.577          0              0              0
  26  DeskLamp        -0.669         0.923          -0.062         0              90             0
  27  Painting        -0.787         1.809          -0.215         90             270            0
  28  Painting        -0.787         1.809          1.023          90             270            0
  29  Mirror          2.118          1.277          2.749          0              0              0
  30  LightSwitch     0.726          1.200          2.75           0              180            0
  31  GarbageCan      2.257          -0.008         2.603          353.970        0              0
  32  Window          0.665          1.356          -1.911         90             0              0
  33  Drawer          2.119          0.576          -0.491         4.458          270            0
  34  Drawer          2.147          0.213          -0.491         4.458          270            0
  35  SideTable       2.226          0.013          -0.492         4.458          270            0
  36  Chair           0.170          0.011          -1.214         0              261.719        0
  37  Blinds          0.695          1.983          -1.867         0              0              0
  38  Drawer          -0.079         0.513          -0.394         0              90             0
  39  Drawer          -0.079         0.226          -0.394         0              90             0
  40  Desk            -0.391         0.001          -0.811         0              90             0
  41  Drawer          -0.079         0.762          -0.394         0              90             0
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: Go to the bed | STEP 2: Pick up the purple pillow on the bed | STEP 3: Go to the desk | STEP 4: Turn on the desk lamp | END