Task: Grab the disc from the cabinet, turn on the lamp on the dresser

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          0.0            0              90             0
   1  CD              2.285          0.842          -0.221         0              0              0              30
   2  Pen             -0.603         0.930          -0.391         0              0              0              37
   3  Pencil          2.225          0.053          2.579          0              0              0              28
   4  Pencil          -0.603         0.928          -0.604         0              0              0              37
   5  CreditCard      -0.603         0.924          -0.818         0              0              0              37
   6  Book            -0.225         0.926          -1.032         0              0              0              37
   7  Book            2.143          0.844          -0.090         0              0              0              30
   8  AlarmClock      2.190          0.843          -0.615         0              0              0              32
   9  Laptop          -0.509         0.923          -1.459         0              0              0              37
  10  Box             2.15           0.14           0.494          0              12.243         0
  11  Book            -0.148         0.551          1.263          0              0              0              22
  12  BasketBall      -0.235         0.120          0.166          0              0              0
  13  Pen             -0.509         0.930          -0.604         0              90             0              37
  14  Pillow          0.172          0.617          0.678          0              0              0              22
  15  Pencil          2.282          0.053          2.606          0              0              0              28
  16  CellPhone       -0.470         0.552          1.263          0              0              0              22
  17  KeyChain        -0.509         0.925          -0.177         0              0              0              37
  18  CreditCard      2.380          0.842          -0.484         0              0              0              32
  19  AlarmClock      -0.414         0.925          -0.604         0              0              0              37
  20  CD              2.195          0.096          -0.777         0              0              0              31
  21  Laptop          -0.309         0.548          1.848          0              0              0              22
  22  Bed             0.009          -0.004         1.577          0              0              0
  23  DeskLamp        -0.669         0.923          -0.062         0              90             0
  24  Painting        -0.787         1.809          -0.215         90             270            0
  25  Painting        -0.787         1.809          1.023          90             270            0
  26  Mirror          2.118          1.277          2.749          0              0              0
  27  LightSwitch     0.726          1.200          2.75           0              180            0
  28  GarbageCan      2.257          -0.008         2.603          353.970        0              0
  29  Window          0.665          1.356          -1.911         90             0              0
  30  Drawer          2.119          0.576          -0.491         4.458          270            0
  31  Drawer          2.147          0.213          -0.491         4.458          270            0
  32  SideTable       2.226          0.013          -0.492         4.458          270            0
  33  Chair           0.170          0.011          -1.214         0              261.719        0
  34  Blinds          0.695          1.983          -1.867         0              0              0
  35  Drawer          -0.079         0.513          -0.394         0              90             0
  36  Drawer          -0.079         0.226          -0.394         0              90             0
  37  Desk            -0.391         0.001          -0.811         0              90             0
  38  Drawer          -0.079         0.762          -0.394         0              90             0
  39  NorthWall
  40  EastWall
  41  SouthWall
  42  WestWall

Plan:
STEP 1: Walk to the right a little | STEP 2: Grab the disc from the cabinet | STEP 3: Turn around, walk to the dresser | STEP 4: Turn on the lamp on the dresser | END