Task: Turn on the light while holding a pillow.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.901          -1.75          0              180            0
   1  Mug             -1.648         0.597          -0.533         0              0              0              50
   2  Mug             0.076          0.728          -2.764         0              180            0              43
   3  Vase            1.917          1.578          -2.298         0              0              0              34
   4  CD              0.450          0.415          -2.578         0              0              0              45
   5  CellPhone       -1.846         0.599          -0.392         0              0              0              50
   6  Pen             0.076          0.736          -2.647         0              180            0              43
   7  Pencil          0.651          0.732          -2.588         0              180            0              43
   8  KeyChain        -1.648         0.599          -0.392         0              90             0              50
   9  Book            -0.564         0.418          -1.610         0              0              0              49
  10  Pillow          -0.564         0.491          -2.100         0              0              0              49
  11  AlarmClock      0.766          0.730          -2.647         0              180            0              43
  12  Box             1.996          0.316          -1.042         0              254.839        0
  13  Book            0.339          0.723          -2.65          0              165.000        0              43
  14  Pillow          -1.548         0.457          -1.831         0              90             0              49
  15  CellPhone       -0.794         0.417          -1.610         0              0              0              49
  16  Vase            1.723          0.055          -2.303         0              0              0              61
  17  BaseballBat     -1.629         0.649          0.416          14.491         0              0
  18  CreditCard      -1.828         0.508          -1.023         0              0              0              52
  19  TennisRacket    2.244          0.279          -1.901         335.402        251.974        201.714
  20  KeyChain        -1.794         0.365          -1.040         0              270            0              53
  21  AlarmClock      -1.853         0.501          -1.174         0              285.157        0              50
  22  Cloth           2.176          0.0            -0.571         0              335.474        0
  23  Laptop          -1.764         0.591          -0.112         0              113.510        0              50
  24  CD              -1.794         0.069          -1.076         0              0              0              54
  25  CD              -1.515         0.598          -0.675         0              0              0              50
  26  Pen             0.651          0.736          -2.471         0              180            0              43
  27  Pencil          -1.582         0.602          -0.250         0              0              0              50
  28  Mug             1.788          0.975          -2.277         0              0              0              30
  29  Shelf           1.311          0.969          -2.298         0              0              0
  30  Shelf           1.843          0.969          -2.298         0              0              0
  31  Shelf           1.311          1.171          -2.298         0              0              0
  32  Shelf           1.843          1.171          -2.298         0              0              0
  33  Shelf           1.311          1.368          -2.298         0              0              0
  34  Shelf           1.843          1.570          -2.298         0              0              0
  35  Shelf           1.843          1.368          -2.298         0              0              0
  36  Shelf           1.311          1.570          -2.298         0              0              0
  37  DeskLamp        -1.848         0.592          -0.786         0              90             0
  38  GarbageCan      2.197          -0.007         0.298          0              232.025        0
  39  LightSwitch     -0.638         1.149          0.499          0              180            0
  40  Poster          0.001          1.495          -2.642         90             90             0
  41  Mirror          -1.072         1.469          0.497          0              0              0
  42  Window          0.435          1.398          -2.855         90             0              0
  43  SideTable       0.435          0.036          -2.647         0              0              0
  44  Drawer          0.433          0.203          -2.445         0              0              0
  45  Drawer          0.433          0.505          -2.445         0              0              0
  46  Dumbbell        -1.656         0.602          -0.534         0              90             0
  47  Blinds          0.449          2.164          -2.845         0              0              0
  48  GarbageBag      1.730          0.318          0.222          270            90             83.412
  49  Bed             -1.047         -0.000         -1.851         0              270            0
  50  Desk            -1.710         0.000          -0.374         0              90             0
  51  Drawer          -1.790         0.245          -1.144         0              90             0
  52  SideTable       -1.824         0.000          -1.144         0              90             0
  53  Drawer          -1.790         0.392          -1.144         0              90             0
  54  Drawer          -1.790         0.097          -1.144         0              90             0
  55  Chair           -1.453         0.005          -0.311         0              286.095        0
  56  Shelf           1.591          0.606          -2.305         0              0              0
  57  ShelvingUnit    1.588          0.004          -2.326         0              0              0
  58  Shelf           1.854          0.453          -2.298         0              0              0
  59  Shelf           1.321          0.155          -2.296         0              0              0
  60  Shelf           1.323          0.456          -2.300         0              0              0
  61  Shelf           1.852          0.152          -2.294         0              0              0
  62  NorthWall
  63  EastWall
  64  SouthWall
  65  WestWall

Plan:
STEP 1: Turn around 180 degrees then turn 90 degrees to the left and walk towards the other end of the room, turning 90 degrees to the left when you reach the bed.  | STEP 2: Pick up the pillow on the bed.  | STEP 3: Turn 90 degrees to the right to face the nightstand. | STEP 4: Turn on the lamp on the nightstand. | END