Task: Carry a pillow over to 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           1.75           0.900          -0.5           0              270            0
   1  TissueBox       -1.294         0.969          -0.544         0              0              0              50
   2  Watch           2.591          0.795          -1.121         0              0              0              54
   3  Book            -0.462         0.565          0.846          0              180            0              30
   4  CD              2.215          0.794          -1.249         0              0              0              54
   5  Pen             1.809          0.808          -1.370         0              0              0              54
   6  Pencil          2.796          1.048          -1.383         0              0              0              38
   7  Pencil          -1.293         0.385          -0.614         0              0              0              51
   8  CreditCard      2.167          1.044          -1.383         0              0              0              41
   9  CreditCard      2.215          0.795          -1.153         0              0              0              54
  10  AlarmClock      -1.318         1.234          -0.745         0              0              0              49
  11  Book            -0.902         0.574          1.179          0              332.922        0              30
  12  Box             2.734          0.195          0.89           0              0              0
  13  Laptop          -0.806         0.561          0.602          0              0              0              30
  14  CellPhone       -1.322         0.971          -0.954         0              0              0              46
  15  BaseballBat     2.847          0.643          1.838          0              0              335.111
  16  BasketBall      1.019          0.330          -0.976         346.948        295.819        0
  17  TissueBox       1.982          0.350          -1.218         0              0              0              63
  18  CreditCard      1.961          0.802          -1.400         0              0              0              54
  19  AlarmClock      -1.269         1.227          -0.473         0              228.191        0              49
  20  Pencil          1.651          0.799          -1.121         0              0              0              54
  21  Boots           -1.279         0.000          -1.343         0              27.143         0
  22  Pillow          -0.634         0.640          0.113          0              0              0              30
  23  KeyChain        -1.352         1.235          -0.649         0              90             0              49
  24  Bowl            2.451          0.788          -1.207         0              0              0              54
  25  Watch           -1.283         1.235          -0.840         0              0              0              49
  26  CD              2.859          0.039          0.182          0              270            0              32
  27  Pen             2.591          0.800          -1.185         0              0              0              54
  28  Mug             2.821          0.788          -1.223         0              0              0              54
  29  Statue          1.823          1.036          -1.419         0              0              0              54
  30  Bed             -0.640         0.008          0.871          0              0              0
  31  DeskLamp        -1.319         1.238          -0.994         0              90             0
  32  GarbageCan      2.838          0.007          0.215          0              270            0
  33  Blinds          0.111          2.337          -1.436         0              0              0
  34  Mirror          1.985          1.381          1.875          0              0              0
  35  Window          0.118          1.496          -1.588         90             180            0
  36  LightSwitch     2.654          1.276          1.899          0              180            0
  37  Chair           2.457          0.011          -0.997         0              189.124        0
  38  Shelf           2.476          0.919          -1.384         0              0              0
  39  Shelf           2.251          1.503          -1.383         0              0              0
  40  Shelf           2.700          1.510          -1.380         0              0              0
  41  Shelf           2.476          1.153          -1.384         0              0              0
  42  Shelf           1.803          1.386          -1.384         0              0              0
  43  Shelf           1.803          0.919          -1.381         0              0              0
  44  DogBed          0.920          0.013          -1.044         0              0              0
  45  Drawer          -1.305         0.454          -0.918         0              90             0
  46  Drawer          -1.305         0.752          -0.919         0              90             0
  47  Drawer          -1.305         0.178          -0.918         0              90             0
  48  Drawer          -1.305         0.752          -0.579         0              90             0
  49  Dresser         -1.328         0.011          -0.744         0              90             0
  50  Drawer          -1.306         1.031          -0.579         0              90             0
  51  Drawer          -1.305         0.454          -0.578         0              90             0
  52  Drawer          -1.305         0.178          -0.578         0              90             0
  53  Drawer          -1.305         1.031          -0.919         0              90             0
  54  Desk            2.211          0.009          -1.259         0              0              0
  55  Drawer          2.817          0.189          -1.176         0              0              0
  56  Drawer          1.940          0.632          -1.176         0              0              0
  57  Drawer          1.940          0.189          -1.176         0              0              0
  58  Drawer          1.623          0.632          -1.176         0              0              0
  59  Drawer          2.817          0.632          -1.176         0              0              0
  60  Drawer          2.817          0.411          -1.176         0              0              0
  61  Drawer          1.623          0.189          -1.176         0              0              0
  62  Drawer          1.623          0.410          -1.176         0              0              0
  63  Drawer          1.940          0.410          -1.176         0              0              0
  64  NorthWall
  65  EastWall
  66  SouthWall
  67  WestWall

Plan:
STEP 1: Turn right, take ten steps, turn right again and stop in front of the bed. | STEP 2: Pick up the pillow from the bed. | STEP 3: Turn around for 3 steps, turn right and stop in front of the dresser. | STEP 4: Still holding the pillow, turn on the lamp on the dresser, left back of dresser. | END