Task: pick up blue pillow, turn on 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            0.900          0.25           0              180            0
   1  CD              2.205          0.524          1.272          0              180            0              39
   2  CD              3.361          0.161          0.009          0              270            0              35
   3  CellPhone       -0.600         0.902          -1.403         0              0              0              27
   4  Pen             -0.948         0.906          -1.680         0              0              0              27
   5  Pencil          1.138          0.945          -1.826         0              0              0              33
   6  Pencil          2.591          0.528          1.110          0              180            0              39
   7  CreditCard      -0.956         0.374          -1.381         0              0              0              28
   8  CreditCard      2.267          0.290          1.194          0              0              0              41
   9  KeyChain        2.359          0.523          1.231          0              180            0              39
  10  KeyChain        -0.252         0.900          -1.773         0              0              0              27
  11  Book            -0.426         0.901          -1.588         0              0              0              27
  12  Book            1.780          0.777          -1.503         0              180            0              37
  13  Pillow          2.054          0.840          -1.056         0              180            0              37
  14  Pillow          1.506          0.840          -1.205         0              180            0              37
  15  Laptop          2.603          0.774          -1.354         0              180            0              44
  16  Book            2.603          0.777          -1.056         0              180            0              37
  17  Pen             0.607          0.947          -1.826         0              0              0              33
  18  AlarmClock      0.430          0.943          -1.854         0              0              0              33
  19  TeddyBear       1.324          0.827          -0.763         56.834         332.692        298.236        44
  20  CellPhone       2.591          0.526          1.231          0              180            0              39
  21  Pencil          0.784          0.945          -1.854         0              0              0              33
  22  Pillow          3.173          0.804          -0.932         0              0              0              44
  23  Laptop          2.603          0.774          -0.757         0              180            0              37
  24  KeyChain        -0.948         0.900          -1.310         0              0              0              27
  25  CreditCard      2.359          0.524          1.312          0              180            0              39
  26  CD              -1.122         0.895          -1.217         0              0              0              27
  27  Desk            -0.503         0.006          -1.465         0              0              0
  28  Drawer          -0.945         0.493          -1.176         0              0              0
  29  Drawer          -0.946         0.212          -1.176         0              0              0
  30  Drawer          -0.944         0.739          -1.176         0              0              0
  31  DeskLamp        -0.124         0.899          -1.731         0              0              0
  32  LightSwitch     3.513          1.253          0.165          0              270            0
  33  Shelf           0.759          0.934          -1.909         0              0              0
  34  Mirror          2.407          1.294          1.401          0              0              0
  35  GarbageCan      3.347          -0.000         -0.027         0              270            0
  36  Window          0.717          1.603          -2.108         90             0              0
  37  Bed             2.301          0.005          -1.056         0              270            0
  38  Blinds          0.749          2.523          -2.022         0              0              0
  39  SideTable       2.436          0.002          1.143          0              180            0
  40  Drawer          2.437          0.122          1.154          0              180            0
  41  Drawer          2.437          0.350          1.153          0              180            0
  42  LaundryHamper   0.359          0.006          -1.505         0              280.399        358.305
  43  Chair           -0.308         0.009          -1.108         0              166.824        0
  44
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: go to the left to blue pillow on bed | STEP 2: pick up blue pillow from bed | STEP 3: turn right, go to desk with lamp to the left | STEP 4: turn on lamp on desk | END