Task: move the disc from the cabinet to the night stand

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          -0.25          0              180            0
   1  Mug             -1.026         0.673          -2.508         0              0              0              38
   2  Mug             -1.381         0.673          -2.598         0              90             0              38
   3  CellPhone       -1.144         0.680          -2.508         0              0              0              38
   4  Pencil          -1.247         0.088          -2.399         0              0              0              41
   5  Pencil          -1.322         0.681          -2.508         0              0              0              38
   6  CreditCard      1.039          0.374          -2.375         0              0              0              42
   7  KeyChain        -0.121         0.621          0.755          0              180            0              37
   8  KeyChain        0.033          0.621          0.755          0              180            0              37
   9  Book            -0.118         0.555          -2.103         0              180            0              25
  10  Book            0.430          0.555          -1.434         0              0              0              25
  11  AlarmClock      1.114          0.681          -2.553         0              0              0              39
  12  Box             2.453          0.222          -0.041         0              0              0
  13  Book            -0.300         0.555          -2.103         0              0              0              25
  14  KeyChain        1.125          0.084          -2.423         0              90             0              42
  15  Pillow          0.064          0.653          -1.434         0              0              0              25
  16  BaseballBat     0.419          0.666          1.044          10.360         0              0
  17  Pencil          -0.431         0.623          0.677          0              270            0              37
  18  CellPhone       -0.276         0.619          0.755          0              180            0              37
  19  CreditCard      -0.276         0.618          0.833          0              180            0              37
  20  Pen             0.996          0.685          -2.329         0              0              0              39
  21  Laptop          0.247          0.554          -0.988         0              180            0              25
  22  AlarmClock      -0.121         0.621          0.988          0              180            0              37
  23  CD              -0.741         0.619          0.988          0              180            0              37
  24  Mug             -1.322         0.677          -2.419         0              0              0              38
  25  Bed             -0.118         -0.001         -1.699         0              180            0
  26  Mirror          2.644          1.347          0.384          0              90             0
  27  GarbageCan      2.467          -0.029         0.936          0              271.107        0
  28  LightSwitch     0.333          1.256          1.149          0              180            0
  29  DeskLamp        0.915          0.670          -2.435         0              0              0
  30  Painting        0.003          1.562          -2.687         90             180            0
  31  Window          -1.559         1.414          -1.356         90             270            0
  32  Window          -1.559         1.414          -0.057         90             270            0
  33  Shelf           -0.276         0.351          0.832          0              0              0
  34  Shelf           -0.276         0.099          0.832          0              0              0
  35  Blinds          -1.462         2.157          -1.343         0              90             0
  36  Blinds          -1.462         2.157          -0.046         0              90             0
  37  Desk            -0.276         -0.001         0.833          0              0              0
  38  SideTable       -1.204         0.002          -2.456         0              0              0
  39  SideTable       0.948          0.002          -2.456         0              0              0
  40  Drawer          0.948          0.166          -2.389         0              0              0
  41  Drawer          -1.204         0.166          -2.389         0              0              0
  42  Drawer          0.948          0.458          -2.389         0              0              0
  43  Drawer          -1.204         0.458          -2.389         0              0              0
  44
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: turn around, walk to the cabinet | STEP 2: grab the disc on the cabinet | STEP 3: turn around, walk to the night stand | STEP 4: put the disc on the night stand | END