Task: Pick up the blue pillow, turn on the desk lamp.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.900          -0.25          0              180            0
   1  Bowl            0.459          0.813          -2.507         0              0              0              50
   2  CellPhone       -1.319         0.652          -2.363         0              0              0              56
   3  Pen             -1.393         0.867          -2.436         0              0              0              57
   4  Pen             0.355          0.817          -2.304         0              0              0              50
   5  Pencil          -1.192         0.865          -2.498         0              0              0              57
   6  Pencil          -1.493         0.375          -2.325         0              0              0              55
   7  CreditCard      -1.567         1.362          -2.435         0              0              0              53
   8  CreditCard      -1.594         0.861          -2.561         0              0              0              57
   9  RemoteControl   -1.580         0.653          -2.363         0              0              0              56
  10  Laptop          0.528          0.772          0.850          0              0              0              28
  11  Book            -0.386         0.861          -2.498         0              0              0              57
  12  Cloth           1.303          0.0            -0.696         0              303.212        0
  13  Cloth           1.273          0.0            -0.969         0              0              0
  14  CellPhone       -0.061         0.812          -2.236         0              0              0              50
  15  Pencil          -0.587         0.865          -2.373         0              0              0              57
  16  Laptop          -0.333         0.772          1.012          0              0              0              28
  17  AlarmClock      0.355          0.812          -2.169         0              0              0              50
  18  CreditCard      0.251          0.811          -2.507         0              0              0              50
  19  KeyChain        0.146          0.813          -2.575         0              90             0              50
  20  TennisRacket    -1.704         0.345          1.743          345.000        90             180
  21  RemoteControl   -0.990         0.863          -2.373         0              0              0              57
  22  Pillow          1.073          0.876          1.326          0              262.063        0              28
  23  CD              1.521          0.817          -1.727         0              0              0              48
  24  CD              0.527          0.806          -2.485         0              0              0              50
  25  CD              -1.192         0.861          -2.248         0              0              0              57
  26  Pen             -0.587         0.867          -2.248         0              0              0              57
  27  Bowl            -0.674         0.855          -2.499         0              323.153        0              57
  28  Bed             0.270          0.001          1.331          0              90             0
  29  LaundryHamper   -1.329         0.001          1.829          0              180            0
  30  Television      -1.664         1.479          -0.912         0              90             0
  31  DeskLamp        0.049          0.815          -2.481         0              0              0
  32  LightSwitch     -1.799         1.213          0.680          0              90             0
  33  Painting        0.492          1.684          -2.629         90             0              0
  34  Poster          -1.799         1.690          -1.491         90             270            0
  35  GarbageCan      1.306          -0.001         -2.451         0              317.376        0
  36  Mirror          1.5            1.361          -0.542         0              90             0
  37  Window          1.721          1.365          -1.597         90             270            0
  38  Shelf           -1.605         0.435          -0.686         0              90             0
  39  Shelf           -1.613         1.154          -0.904         0              90             0
  40  ShelvingUnit    -1.611         0.005          -0.904         0              90             0
  41  Shelf           -1.605         0.719          -1.122         0              90             0
  42  Shelf           -1.605         0.435          -1.122         0              90             0
  43  Shelf           -1.605         1.006          -1.122         0              90             0
  44  Shelf           -1.605         0.148          -0.686         0              90             0
  45  Shelf           -1.605         0.149          -1.122         0              90             0
  46  Shelf           -1.605         1.006          -0.686         0              90             0
  47  Shelf           -1.605         0.719          -0.686         0              90             0
  48  SideTable       1.484          0.001          -1.481         0              270            0
  49  Blinds          1.699          2.096          -1.575         0              270            0
  50  Desk            0.244          0.004          -2.356         0              0              0
  51  Chair           -0.626         1.439          -2.199         0              171.006        0
  52  Chair           0.220          1.466          -2.214         0              188.269        0
  53  Shelf           -0.978         1.387          -2.479         0              0              0
  54  Drawer          -1.389         0.197          -2.261         0              0              0
  55  Drawer          -1.389         0.480          -2.261         0              0              0
  56  Drawer          -1.389         0.731          -2.261         0              0              0
  57  Desk            -0.973         1.162          -2.351         0              0              0
  58  NorthWall
  59  EastWall
  60  SouthWall
  61  WestWall

Plan:
STEP 1: Turn around and face the bed. | STEP 2: Pick up the blue pillow from the bed. | STEP 3: Turn around and walk across the room to the desk. | STEP 4: Turn the lamp on at the desk. | END