Task: turn on a lamp on the desk while holding a yellow pillow

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.901          0.5            0              0              0
   1  Pencil          0.930          0.688          -1.663         0              0              0              28
   2  KeyChain        -1.894         0.507          1.515          0              180            0              32
   3  Pillow          -0.583         0.618          -0.549         0              0              0              20
   4  Laptop          1.589          0.709          0.409          0              90             0              39
   5  AlarmClock      -1.815         0.673          1.062          0              0              0              36
   6  Book            -1.734         0.286          1.448          0              270            0              34
   7  AlarmClock      -1.845         1.071          1.634          0              270            0              35
   8  BasketBall      1.510          0.120          -0.105         0              0              0
   9  TeddyBear       -1.7           0.475          -0.331         0              225            0              20
  10  TennisRacket    1.551          0.000          0.654          270            336.082        0
  11  Pen             1.687          0.055          1.642          0              270            0              23
  12  Pencil          -1.617         0.678          1.349          0              0              0              36
  13  KeyChain        1.228          0.711          0.796          0              270            0              39
  14  CreditCard      1.228          0.711          0.990          0              270            0              39
  15  Laptop          -1.786         0.634          0.206          0              159.517        0              36
  16  CellPhone       1.318          0.712          0.215          0              270            0              39
  17  Pillow          -1.301         0.618          -0.830         0              0              0              20
  18  CD              -1.628         0.065          1.581          0              270            0              33
  19  Curtains        1.865          2.039          -0.495         0              0              0
  20  Bed             -1.037         0.009          -0.690         0              270            0
  21  Mirror          0.549          1.494          1.880          0              0              0
  22  Curtains        0.486          2.035          -1.853         0              90             0
  23  GarbageCan      1.683          -0.018         1.670          0              270            0
  24  LightSwitch     -0.119         1.317          1.853          0              180            0
  25  DeskLamp        -1.845         1.057          0.756          0              0              0
  26  Window          1.932          1.409          -0.507         90             270            0
  27  Window          0.481          1.411          -1.932         90             0              0
  28  SideTable       0.626          0.0            -1.705         0              0              0
  29  Footstool       0.176          0.006          -0.358         0              0              0
  30  Dumbbell        1.596          0.715          0.772          0              0              0
  31  Dumbbell        1.776          0.717          0.772          0              0              0
  32  Shelf           -1.700         0.573          1.540          0              90             0
  33  Shelf           -1.700         0.156          1.540          0              90             0
  34  Shelf           -1.700         0.377          1.540          0              90             0
  35  Shelf           -1.839         1.084          1.235          0              90             0
  36  Desk            -1.722         0.003          0.920          0              90             0
  37  Footstool       0.175          0.004          -0.652         0              0              0
  38  GarbageBag      1.624          0.319          -1.609         270            90             83.418
  39  Desk            1.519          1.823          0.385          0              270            0
  40  Chair           -1.459         0.003          0.929          0              292.527        0
  41  NorthWall
  42  EastWall
  43  WestWall

Plan:
STEP 1: walk over to the foot of the bed | STEP 2: grab the yellow pillow off of the bed | STEP 3: walk over to the wooden desk | STEP 4: turn on the lamp on the desk | END