Task: turn on a lamp while holding the disk

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          0.909          -0.25          0              0              0
   1  Mug             -3.613         0.979          -3.472         0              0              0              44
   2  Mug             -0.596         0.541          -3.731         0              0              0              35
   3  CD              -3.760         0.979          -3.271         0              0              0              44
   4  CD              -1.066         0.799          -4.137         0              0              0              41
   5  CellPhone       -1.474         0.803          -4.029         0              0              0              41
   6  Pen             -0.453         0.805          -4.246         0              0              0              41
   7  Pen             -0.350         0.036          -3.811         0              0              0              33
   8  Pencil          -0.249         0.807          -4.029         0              0              0              41
   9  Pencil          -3.526         0.229          -3.371         0              0              0              46
  10  CreditCard      -0.862         0.800          -4.354         0              0              0              41
  11  Book            -3.402         0.620          -2.080         0              0              0              26
  12  Laptop          -3.402         0.618          -1.793         0              0              0              26
  13  Book            -3.613         0.980          -3.673         0              0              0              44
  14  CellPhone       -3.402         0.620          -1.506         0              0              0              26
  15  Laptop          -2.981         0.618          -1.793         0              0              0              26
  16  CreditCard      -3.526         0.419          -3.092         0              0              0              52
  17  AlarmClock      -0.657         0.803          -4.354         0              0              0              41
  18  KeyChain        -3.834         0.982          -3.271         0              0              0              44
  19  TeddyBear       -2.567         0.575          -0.386         357.948        14.682         7.781          26
  20  BaseballBat     -1.155         0.033          -3.997         90             59.999         0              Floor|-01.88|
  21  Pencil          -3.526         0.618          -3.091         0              0              0              45
  22  Pillow          -3.335         0.681          -0.415         0              0              0              26
  23  CD              -3.526         0.418          -3.793         0              0              0              47
  24  Pen             -0.655         0.036          -3.811         0              0              0              33
  25  Mug             -0.453         0.798          -3.703         0              0              0              41
  26  Bed             -2.980         0.009          -1.177         0              0              0
  27  LightSwitch     -1.620         1.351          0.0            0              180            0
  28  DeskLamp        -1.529         0.790          -4.298         0              0              0
  29  Mirror          -0.002         1.251          -2.592         0              90             0
  30  GarbageCan      -1.843         -0.017         -3.897         0              279.992        0
  31  Window          0.209          1.180          -1.504         90             270            0
  32  Drawer          -0.503         0.067          -4.188         0              180            0
  33  Drawer          -0.502         0.226          -3.799         0              0              0
  34  Drawer          -0.502         0.385          -3.799         0              0              0
  35  CoffeeTable     -0.503         0.009          -3.990         0              0              0
  36  Drawer          -0.502         0.067          -3.799         0              0              0
  37  Blinds          0.163          2.196          -1.495         0              270            0
  38  TableTopDecor   -3.586         0.996          -3.055         0              180            0
  39  Drawer          -0.503         0.385          -4.188         0              180            0
  40  Drawer          -0.503         0.226          -4.188         0              180            0
  41  Desk            -0.862         0.006          -4.028         0              0              0
  42  Drawer          -3.609         0.876          -4.055         0              90             0
  43  Drawer          -3.608         0.112          -3.261         0              90             0
  44  Dresser         -3.653         0.008          -3.658         0              90             0
  45  Drawer          -3.609         0.688          -3.261         0              90             0
  46  Drawer          -3.609         0.300          -3.261         0              90             0
  47  Drawer          -3.609         0.494          -4.055         0              90             0
  48  Drawer          -3.609         0.300          -4.055         0              90             0
  49  Drawer          -3.608         0.112          -4.055         0              90             0
  50  Drawer          -3.609         0.688          -4.055         0              90             0
  51  Drawer          -3.609         0.876          -3.261         0              90             0
  52  Drawer          -3.609         0.494          -3.261         0              90             0
  53  NorthWall
  54  EastWall
  55  SouthWall
  56  WestWall

Plan:
STEP 1: move around to the cupboard | STEP 2: pick up the disk on the cupboard | STEP 3: turn around and head to the table | STEP 4: turn on the lamp on the table | END