Task: pick up pillow followed by turning on light

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.25           0.900          0.5            0              180            0
   1  Pen             -0.426         0.901          -1.310         0              0              0              19
   2  Pen             2.514          0.530          1.191          0              180            0              31
   3  CreditCard      -0.881         0.651          -1.330         0              0              0              36
   4  CreditCard      0.430          0.941          -1.882         0              0              0              25
   5  KeyChain        2.380          0.290          1.173          0              0              0              33
   6  Book            2.329          0.777          -1.503         0              180            0              29
   7  Laptop          1.506          0.774          -1.354         0              180            0              37
   8  Book            -0.948         0.896          -1.310         0              0              0              19
   9  Pen             -0.426         0.906          -1.495         0              0              0              19
  10  AlarmClock      -0.426         0.902          -1.773         0              0              0              19
  11  TeddyBear       1.324          0.827          -0.763         56.834         332.692        298.236        37
  12  CellPhone       2.329          0.778          -0.757         0              180            0              29
  13  Pencil          0.607          0.945          -1.826         0              0              0              25
  14  Pillow          3.173          0.804          -0.932         0              0              0              37
  15  Laptop          2.054          0.774          -1.056         0              180            0              29
  16  KeyChain        0.253          0.941          -1.854         0              0              0              25
  17  CreditCard      1.315          0.941          -1.993         0              0              0              25
  18  CD              2.514          0.524          1.272          0              180            0              31
  19  Desk            -0.503         0.006          -1.465         0              0              0
  20  Drawer          -0.945         0.493          -1.176         0              0              0
  21  Drawer          -0.946         0.212          -1.176         0              0              0
  22  Drawer          -0.944         0.739          -1.176         0              0              0
  23  DeskLamp        -0.124         0.899          -1.731         0              0              0
  24  LightSwitch     3.513          1.253          0.165          0              270            0
  25  Shelf           0.759          0.934          -1.909         0              0              0
  26  Mirror          2.407          1.294          1.401          0              0              0
  27  GarbageCan      3.347          -0.000         -0.027         0              270            0
  28  Window          0.717          1.603          -2.108         90             0              0
  29  Bed             2.301          0.005          -1.056         0              270            0
  30  Blinds          0.749          2.523          -2.022         0              0              0
  31  SideTable       2.436          0.002          1.143          0              180            0
  32  Drawer          2.437          0.122          1.154          0              180            0
  33  Drawer          2.437          0.350          1.153          0              180            0
  34  LaundryHamper   0.359          0.006          -1.505         0              280.399        358.305
  35  Chair           -0.308         0.009          -1.108         0              166.824        0
  36
  37
  38  NorthWall
  39  EastWall
  40  SouthWall
  41  WestWall

Plan:
STEP 1: turn left, walk forward one step, turn right, walk forward to bed | STEP 2: pick up pillow off of bed | STEP 3: turn around, walk forward one step, turn left walk forward to end of bed, turn left, walk forward to wall, turn right | STEP 4: turn on lamp on desk | END