Task: Turn on the lamp on the nightstand while carrying a green rag.

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          0.0            0              180            0
   1  CD              0.201          0.971          -1.926         0              270            0              37
   2  CD              -0.487         0.409          -1.488         0              270            0              40
   3  CellPhone       2.249          0.473          1.332          0              0              0              34
   4  CellPhone       0.201          0.975          -1.778         0              270            0              37
   5  Pen             0.398          0.223          -1.712         0              270            0              44
   6  Pencil          0.584          0.220          -1.600         0              270            0              44
   7  CreditCard      -0.602         0.972          -1.557         0              270            0              37
   8  Book            2.135          0.417          -0.413         0              0              0              47
   9  Book            0.897          0.417          0.252          0              0              0              47
  10  AlarmClock      -0.602         0.972          -1.778         0              270            0              37
  11  Box             -1.751         0.252          1.499          0              340.773        0              Floor|+00.00|
  12  Book            1.392          0.417          0.419          0              0              0              47
  13  Cloth           -1.146         0.000          -2.123         0              0              0              Floor|+00.00|
  14  CellPhone       1.648          0.043          -2.130         0              88.075         0              50
  15  Pencil          0.000          0.974          -1.705         0              270            0              37
  16  AlarmClock      2.153          0.565          1.23           0              213.033        0              35
  17  TeddyBear       -2.236         0.000          1.457          0              319.128        0              Floor|+00.00|
  18  CreditCard      0.120          0.605          -1.712         0              270            0              42
  19  KeyChain        -0.488         0.606          -1.769         0              270            0              40
  20  Pillow          2.11           0.422          0.331          0              270            0              47
  21  Pillow          0.897          0.477          -0.247         0              0              0              47
  22  Laptop          1.640          0.413          -0.080         0              0              0              47
  23  Bowl            -0.401         0.972          -1.557         0              270            0              37
  24  Cloth           -1.288         0.000          -1.936         0              357.341        356.936        Floor|+00.00|
  25  CD              0.201          0.971          -1.557         0              270            0              37
  26  Pen             -0.394         0.041          -1.711         0              270            0              38
  27  DeskLamp        2.302          0.561          1.435          0              315            0
  28  GarbageCan      -2.208         -0.023         -1.742         0              77.663         0
  29  Poster          2.439          1.508          0.014          90             270            0
  30  LightSwitch     -2.457         1.274          -0.096         0              90             0
  31  Mirror          2.454          1.322          -1.414         0              90             0
  32  Window          -1.440         1.815          -2.354         90             0              0
  33  Window          1.401          1.815          -2.354         90             0              0
  34  Drawer          2.251          0.468          1.333          0              270            0
  35  SideTable       2.243          -0.001         1.331          0              270            0
  36  Drawer          -0.385         0.681          -1.631         0              0              0
  37  Dresser         0.011          0.001          -1.676         0              0              0
  38  Drawer          -0.385         0.105          -1.631         0              0              0
  39  Drawer          0.408          0.868          -1.632         0              0              0
  40  Drawer          -0.385         0.487          -1.631         0              0              0
  41  Drawer          -0.385         0.868          -1.632         0              0              0
  42  Drawer          0.408          0.681          -1.631         0              0              0
  43  Drawer          0.408          0.105          -1.631         0              0              0
  44  Drawer          0.408          0.292          -1.631         0              0              0
  45  Drawer          -0.385         0.292          -1.631         0              0              0
  46  Drawer          0.408          0.487          -1.631         0              0              0
  47  Bed             1.377          0.004          0.072          0              90             0
  48  Blinds          1.422          3.115          -2.339         0              0              0
  49  Blinds          -1.422         3.115          -2.339         0              0              0
  50  Safe            1.640          0.000          -2.040         0              355.244        0
  51  LaundryHamper   -1.564         0.001          -1.927         0              45             0
  52  NorthWall
  53  EastWall
  54  SouthWall
  55  WestWall

Plan:
STEP 1: Walk to the window on your right. | STEP 2: Pick up the green rag from the ground below the window. | STEP 3: Turn around and walk to the nightstand to the left of the bed. | STEP 4: Turn on the lamp. | END