Task: Take a green rag to the left bedside lamp to turn it on

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.901          1.0            0              0              0
   1  CD              -0.674         0.800          -1.711         0              270            0              34
   2  CreditCard      0.402          0.970          -1.484         0              270            0              30
   3  CreditCard      0.212          0.217          -1.768         0              270            0              37
   4  Box             -1.751         0.252          1.499          0              340.773        0              Floor|+00.00|
   5  Book            1.392          0.417          0.585          0              0              0              40
   6  Cloth           -1.146         0.000          -2.123         0              0              0              Floor|+00.00|
   7  CellPhone       1.640          0.418          -0.080         0              0              0              40
   8  Pencil          -0.394         0.039          -1.598         0              270            0              31
   9  AlarmClock      0.201          0.972          -1.631         0              270            0              30
  10  TeddyBear       -2.236         0.000          1.457          0              319.128        0              Floor|+00.00|
  11  CreditCard      -0.486         0.216          -1.824         0              270            0              38
  12  KeyChain        1.807          0.041          -2.072         0              268.075        0              43
  13  Pillow          0.649          0.477          0.419          0              0              0              40
  14  Pillow          1.392          0.477          -0.080         0              0              0              40
  15  Laptop          -0.5           0.965          -1.715         0              24.156         0              30
  16  Bowl            0.471          0.965          -1.856         0              0              0              30
  17  Cloth           -1.288         0.000          -1.936         0              357.341        356.936        Floor|+00.00|
  18  CD              1.748          0.040          -1.917         0              88.075         0              43
  19  Pen             0.201          0.976          -1.926         0              0              0              30
  20  DeskLamp        2.302          0.561          1.435          0              315            0
  21  GarbageCan      -2.208         -0.023         -1.742         0              77.663         0
  22  Poster          2.439          1.508          0.014          90             270            0
  23  LightSwitch     -2.457         1.274          -0.096         0              90             0
  24  Mirror          2.454          1.322          -1.414         0              90             0
  25  Window          -1.440         1.815          -2.354         90             0              0
  26  Window          1.401          1.815          -2.354         90             0              0
  27  Drawer          2.251          0.468          1.333          0              270            0
  28  SideTable       2.243          -0.001         1.331          0              270            0
  29  Drawer          -0.385         0.681          -1.631         0              0              0
  30  Dresser         0.011          0.001          -1.676         0              0              0
  31  Drawer          -0.385         0.105          -1.631         0              0              0
  32  Drawer          0.408          0.868          -1.632         0              0              0
  33  Drawer          -0.385         0.487          -1.631         0              0              0
  34  Drawer          -0.385         0.868          -1.632         0              0              0
  35  Drawer          0.408          0.681          -1.631         0              0              0
  36  Drawer          0.408          0.105          -1.631         0              0              0
  37  Drawer          0.408          0.292          -1.631         0              0              0
  38  Drawer          -0.385         0.292          -1.631         0              0              0
  39  Drawer          0.408          0.487          -1.631         0              0              0
  40  Bed             1.377          0.004          0.072          0              90             0
  41  Blinds          1.422          3.115          -2.339         0              0              0
  42  Blinds          -1.422         3.115          -2.339         0              0              0
  43  Safe            1.640          0.000          -2.040         0              355.244        0
  44  LaundryHamper   -1.564         0.001          -1.927         0              45             0
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: Turn around and go to the laundry basket in front of the window | STEP 2: Pick up the green rag on the floor | STEP 3: Turn back around and go to the bedside table on the left side of the bed | STEP 4: Turn on the lamp that's on the bedside table. | END