Task: Grab the disc on the table, turn on the lamp on the table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.900          -0.75          0              0              0
   1  CD              0.784          0.941          -1.91          0              0              0              26
   2  CD              -1.106         0.093          -1.431         0              0              0              22
   3  CellPhone       2.205          0.525          1.231          0              180            0              32
   4  Pencil          -0.881         0.097          -1.381         0              0              0              22
   5  CreditCard      0.430          0.941          -1.882         0              0              0              26
   6  KeyChain        -0.731         0.374          -1.381         0              0              0              21
   7  Book            2.054          0.777          -0.906         0              180            0              30
   8  Laptop          2.603          0.774          -0.906         0              180            0              30
   9  Book            -0.426         0.901          -1.495         0              0              0              20
  10  Pen             1.138          0.947          -1.91          0              0              0              26
  11  AlarmClock      -0.600         0.902          -1.403         0              0              0              20
  12  TeddyBear       1.324          0.827          -0.763         56.834         332.692        298.236        37
  13  CellPhone       -1.031         0.376          -1.431         0              0              0              21
  14  Pencil          0.253          0.945          -1.937         0              0              0              26
  15  Pillow          2.878          0.840          -1.354         0              180            0              30
  16  Laptop          2.054          0.774          -1.205         0              180            0              30
  17  KeyChain        -1.031         0.651          -1.330         0              0              0              23
  18  CreditCard      2.380          0.066          1.194          0              0              0              33
  19  CD              2.514          0.522          1.151          0              180            0              32
  20  Desk            -0.503         0.006          -1.465         0              0              0
  21  Drawer          -0.945         0.493          -1.176         0              0              0
  22  Drawer          -0.946         0.212          -1.176         0              0              0
  23  Drawer          -0.944         0.739          -1.176         0              0              0
  24  DeskLamp        -0.124         0.899          -1.731         0              0              0
  25  LightSwitch     3.513          1.253          0.165          0              270            0
  26  Shelf           0.759          0.934          -1.909         0              0              0
  27  Mirror          2.407          1.294          1.401          0              0              0
  28  GarbageCan      3.347          -0.000         -0.027         0              270            0
  29  Window          0.717          1.603          -2.108         90             0              0
  30  Bed             2.301          0.005          -1.056         0              270            0
  31  Blinds          0.749          2.523          -2.022         0              0              0
  32  SideTable       2.436          0.002          1.143          0              180            0
  33  Drawer          2.437          0.122          1.154          0              180            0
  34  Drawer          2.437          0.350          1.153          0              180            0
  35  LaundryHamper   0.359          0.006          -1.505         0              280.399        358.305
  36  Chair           -0.308         0.009          -1.108         0              166.824        0
  37
  38  NorthWall
  39  EastWall
  40  SouthWall
  41  WestWall

Plan:
STEP 1: Turn right, walk to the night stand, turn left, walk to the table | STEP 2: Grab the disc on the table | STEP 3: Turn left and turn left, walk to the AC | STEP 4: Turn on the lamp on the table | END