Task: While carrying a pillow around the bed, turn on the lamp.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.901          1.25           0              0              0
   1  CD              -0.674         0.799          -1.542         0              270            0              43
   2  CD              -0.602         0.970          -1.557         0              270            0              39
   3  Pen             0.201          0.977          -1.778         0              270            0              39
   4  Pen             2.160          0.571          1.457          0              180            0              37
   5  Pencil          0.305          0.220          -1.768         0              270            0              46
   6  Pencil          -0.394         0.803          -1.711         0              270            0              43
   7  CreditCard      0.398          0.605          -1.825         0              270            0              44
   8  KeyChain        0.402          0.971          -1.705         0              0              0              39
   9  KeyChain        -0.401         0.973          -1.557         0              90             0              39
  10  Book            -0.401         0.974          -1.705         0              270            0              39
  11  Book            0.491          0.801          -1.598         0              270            0              41
  12  Laptop          1.145          0.413          -0.247         0              0              0              49
  13  Box             -1.751         0.252          1.499          0              340.773        0              Floor|+00.00|
  14  Book            0.213          0.412          -1.656         0              270            0              48
  15  Cloth           -1.146         0.000          -2.123         0              0              0              Floor|+00.00|
  16  CellPhone       1.392          0.418          0.086          0              0              0              49
  17  Pencil          -2.180         0.058          -1.739         0              77.664         0              30
  18  AlarmClock      2.153          0.565          1.23           0              213.033        0              37
  19  TeddyBear       -2.236         0.000          1.457          0              319.128        0              Floor|+00.00|
  20  CreditCard      0.604          0.970          -1.926         0              270            0              39
  21  KeyChain        1.597          0.041          -2.184         0              88.075         0              52
  22  Pillow          2.11           0.422          0.331          0              270            0              49
  23  Pillow          2.15           0.433          -0.241         0              282.078        0              49
  24  Laptop          0.897          0.413          0.419          0              0              0              49
  25  Bowl            0.471          0.965          -1.856         0              0              0              39
  26  Cloth           -1.288         0.000          -1.936         0              357.341        356.936        Floor|+00.00|
  27  CD              1.536          0.040          -1.977         0              88.075         0              52
  28  Pen             0.398          0.223          -1.600         0              270            0              46
  29  DeskLamp        2.302          0.561          1.435          0              315            0
  30  GarbageCan      -2.208         -0.023         -1.742         0              77.663         0
  31  Poster          2.439          1.508          0.014          90             270            0
  32  LightSwitch     -2.457         1.274          -0.096         0              90             0
  33  Mirror          2.454          1.322          -1.414         0              90             0
  34  Window          -1.440         1.815          -2.354         90             0              0
  35  Window          1.401          1.815          -2.354         90             0              0
  36  Drawer          2.251          0.468          1.333          0              270            0
  37  SideTable       2.243          -0.001         1.331          0              270            0
  38  Drawer          -0.385         0.681          -1.631         0              0              0
  39  Dresser         0.011          0.001          -1.676         0              0              0
  40  Drawer          -0.385         0.105          -1.631         0              0              0
  41  Drawer          0.408          0.868          -1.632         0              0              0
  42  Drawer          -0.385         0.487          -1.631         0              0              0
  43  Drawer          -0.385         0.868          -1.632         0              0              0
  44  Drawer          0.408          0.681          -1.631         0              0              0
  45  Drawer          0.408          0.105          -1.631         0              0              0
  46  Drawer          0.408          0.292          -1.631         0              0              0
  47  Drawer          -0.385         0.292          -1.631         0              0              0
  48  Drawer          0.408          0.487          -1.631         0              0              0
  49  Bed             1.377          0.004          0.072          0              90             0
  50  Blinds          1.422          3.115          -2.339         0              0              0
  51  Blinds          -1.422         3.115          -2.339         0              0              0
  52  Safe            1.640          0.000          -2.040         0              355.244        0
  53  LaundryHamper   -1.564         0.001          -1.927         0              45             0
  54  NorthWall
  55  EastWall
  56  SouthWall
  57  WestWall

Plan:
STEP 1: Turn around and walk over to the headboard of the bed.  | STEP 2: Pick up the pillow closest to you. | STEP 3: Turn left and and walk around the bed to the other side and over to the nightstand to the left of the bed. | STEP 4: While still holding the pillow, turn on the lamp that's sitting on the nightstand. | END