Task: turn on the bed lamp while holding a cloth

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          -2.0           0              90             0
   1  Mug             0.076          0.726          -2.530         0              180            0              44
   2  Vase            -1.582         0.599          0.031          0              0              0              51
   3  Vase            1.384          1.179          -2.298         0              0              0              32
   4  CD              0.178          0.112          -2.550         0              0              0              45
   5  CellPhone       -1.794         0.216          -1.186         0              0              0              52
   6  Pen             1.851          0.060          -2.261         0              0              0              62
   7  Pen             1.257          0.361          -2.282         0              0              0              61
   8  Pencil          -1.780         0.602          -0.392         0              0              0              51
   9  CreditCard      1.384          0.977          -2.298         0              0              0              30
  10  CreditCard      0.632          0.113          -2.521         0              0              0              45
  11  KeyChain        0.651          0.731          -2.822         0              180            0              44
  12  KeyChain        0.541          0.415          -2.578         0              0              0              46
  13  Box             1.996          0.316          -1.042         0              254.839        0
  14  Book            0.339          0.723          -2.65          0              165.000        0              44
  15  Pillow          -1.548         0.457          -1.831         0              90             0              50
  16  CellPhone       -1.648         0.599          -0.533         0              0              0              51
  17  Vase            1.788          1.179          -2.298         0              0              0              33
  18  BaseballBat     -1.629         0.649          0.416          14.491         0              0
  19  CreditCard      1.511          1.577          -2.277         0              0              0              37
  20  TennisRacket    2.244          0.279          -1.901         335.402        251.974        201.714
  21  KeyChain        0.191          0.731          -2.764         0              270            0              44
  22  AlarmClock      -1.853         0.501          -1.174         0              285.157        0              51
  23  Cloth           2.176          0.0            -0.571         0              335.474        0
  24  Laptop          -0.794         0.415          -1.977         0              0              0              50
  25  CD              1.723          0.355          -2.303         0              0              0              59
  26  CD              0.536          0.728          -2.471         0              180            0              44
  27  Pen             -1.780         0.604          -0.250         0              0              0              51
  28  Pencil          0.076          0.732          -2.764         0              180            0              44
  29  Mug             -1.515         0.597          -0.392         0              0              0              51
  30  Shelf           1.311          0.969          -2.298         0              0              0
  31  Shelf           1.843          0.969          -2.298         0              0              0
  32  Shelf           1.311          1.171          -2.298         0              0              0
  33  Shelf           1.843          1.171          -2.298         0              0              0
  34  Shelf           1.311          1.368          -2.298         0              0              0
  35  Shelf           1.843          1.570          -2.298         0              0              0
  36  Shelf           1.843          1.368          -2.298         0              0              0
  37  Shelf           1.311          1.570          -2.298         0              0              0
  38  DeskLamp        -1.848         0.592          -0.786         0              90             0
  39  GarbageCan      2.197          -0.007         0.298          0              232.025        0
  40  LightSwitch     -0.638         1.149          0.499          0              180            0
  41  Poster          0.001          1.495          -2.642         90             90             0
  42  Mirror          -1.072         1.469          0.497          0              0              0
  43  Window          0.435          1.398          -2.855         90             0              0
  44  SideTable       0.435          0.036          -2.647         0              0              0
  45  Drawer          0.433          0.203          -2.445         0              0              0
  46  Drawer          0.433          0.505          -2.445         0              0              0
  47  Dumbbell        -1.656         0.602          -0.534         0              90             0
  48  Blinds          0.449          2.164          -2.845         0              0              0
  49  GarbageBag      1.730          0.318          0.222          270            90             83.412
  50  Bed             -1.047         -0.000         -1.851         0              270            0
  51  Desk            -1.710         0.000          -0.374         0              90             0
  52  Drawer          -1.790         0.245          -1.144         0              90             0
  53  SideTable       -1.824         0.000          -1.144         0              90             0
  54  Drawer          -1.790         0.392          -1.144         0              90             0
  55  Drawer          -1.790         0.097          -1.144         0              90             0
  56  Chair           -1.453         0.005          -0.311         0              286.095        0
  57  Shelf           1.591          0.606          -2.305         0              0              0
  58  ShelvingUnit    1.588          0.004          -2.326         0              0              0
  59  Shelf           1.854          0.453          -2.298         0              0              0
  60  Shelf           1.321          0.155          -2.296         0              0              0
  61  Shelf           1.323          0.456          -2.300         0              0              0
  62  Shelf           1.852          0.152          -2.294         0              0              0
  63  NorthWall
  64  EastWall
  65  SouthWall
  66  WestWall

Plan:
STEP 1: move forward towards the wall | STEP 2: pick up the cloth from the ground | STEP 3: turn around towards the bed lamp | STEP 4: turn on the bed lamp | END