Task: Turn a lamp on with a blanket in hand.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.900          -1.5           0              90             0
   1  Pen             1.411          0.829          -1.673         0              270            0              46
   2  Pen             0.355          0.818          -2.440         0              0              0              48
   3  Pencil          -1.319         0.091          -2.287         0              0              0              52
   4  CreditCard      1.494          0.823          -1.776         0              270            0              46
   5  CreditCard      -1.192         0.862          -2.248         0              0              0              55
   6  Book            -0.621         0.774          0.850          0              0              0              26
   7  Book            -1.493         0.087          -2.325         0              0              0              52
   8  RemoteControl   -1.319         0.373          -2.363         0              0              0              53
   9  Book            1.103          0.774          1.012          0              0              0              26
  10  Cloth           1.303          0.0            -0.696         0              303.212        0
  11  Cloth           1.273          0.0            -0.969         0              0              0
  12  CellPhone       -0.046         0.774          1.173          0              0              0              26
  13  Pencil          0.459          0.816          -2.169         0              0              0              48
  14  Laptop          0.528          0.772          1.173          0              0              0              26
  15  AlarmClock      -1.594         0.862          -2.311         0              0              0              55
  16  CreditCard      0.042          0.812          -2.169         0              0              0              48
  17  KeyChain        -1.493         0.372          -2.401         0              0              0              53
  18  TennisRacket    -1.704         0.345          1.743          345.000        90             180
  19  RemoteControl   -1.232         0.089          -2.363         0              0              0              52
  20  Pillow          0.528          0.902          0.850          0              0              0              26
  21  CD              0.563          0.811          -2.440         0              0              0              48
  22  CD              1.522          0.823          -1.570         0              270            0              46
  23  CD              -1.594         0.861          -2.561         0              0              0              55
  24  Pen             -1.192         0.867          -2.498         0              180            0              55
  25  Bowl            0.355          0.813          -2.304         0              0              0              48
  26  Bed             0.270          0.001          1.331          0              90             0
  27  LaundryHamper   -1.329         0.001          1.829          0              180            0
  28  Television      -1.664         1.479          -0.912         0              90             0
  29  DeskLamp        0.049          0.815          -2.481         0              0              0
  30  LightSwitch     -1.799         1.213          0.680          0              90             0
  31  Painting        0.492          1.684          -2.629         90             0              0
  32  Poster          -1.799         1.690          -1.491         90             270            0
  33  GarbageCan      1.306          -0.001         -2.451         0              317.376        0
  34  Mirror          1.5            1.361          -0.542         0              90             0
  35  Window          1.721          1.365          -1.597         90             270            0
  36  Shelf           -1.605         0.435          -0.686         0              90             0
  37  Shelf           -1.613         1.154          -0.904         0              90             0
  38  ShelvingUnit    -1.611         0.005          -0.904         0              90             0
  39  Shelf           -1.605         0.719          -1.122         0              90             0
  40  Shelf           -1.605         0.435          -1.122         0              90             0
  41  Shelf           -1.605         1.006          -1.122         0              90             0
  42  Shelf           -1.605         0.148          -0.686         0              90             0
  43  Shelf           -1.605         0.149          -1.122         0              90             0
  44  Shelf           -1.605         1.006          -0.686         0              90             0
  45  Shelf           -1.605         0.719          -0.686         0              90             0
  46  SideTable       1.484          0.001          -1.481         0              270            0
  47  Blinds          1.699          2.096          -1.575         0              270            0
  48  Desk            0.244          0.004          -2.356         0              0              0
  49  Chair           -0.626         1.439          -2.199         0              171.006        0
  50  Chair           0.220          1.466          -2.214         0              188.269        0
  51  Shelf           -0.978         1.387          -2.479         0              0              0
  52  Drawer          -1.389         0.197          -2.261         0              0              0
  53  Drawer          -1.389         0.480          -2.261         0              0              0
  54  Drawer          -1.389         0.731          -2.261         0              0              0
  55  Desk            -0.973         1.162          -2.351         0              0              0
  56  NorthWall
  57  EastWall
  58  SouthWall
  59  WestWall

Plan:
STEP 1: Go to the left and stand above the green blanket on the floor. | STEP 2: Pick the green blanket up from the floor. | STEP 3: Go to the right and then stand in front of the small table wit the lamp. | STEP 4: Turn the lamp on the small table on. | END