Task: turn on the lamp on the night stand, grab the disc on the right

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.901          -1.0           0              0              0
   1  CD              2.114          0.572          1.240          0              180            0              32
   2  CD              1.700          0.040          -2.076         0              88.075         0              47
   3  CellPhone       0.604          0.974          -1.631         0              270            0              34
   4  Pen             -0.210         0.611          -1.656         0              270            0              33
   5  Pencil          -0.207         0.803          -1.768         0              270            0              38
   6  KeyChain        1.534          0.041          -1.925         0              88.075         0              47
   7  Book            0.584          0.219          -1.600         0              270            0              41
   8  Box             -1.751         0.252          1.499          0              340.773        0              Floor|+00.00|
   9  Book            0.491          0.037          -1.598         0              270            0              40
  10  Cloth           -1.146         0.000          -2.123         0              0              0              Floor|+00.00|
  11  CellPhone       1.392          0.418          0.419          0              0              0              44
  12  Pencil          0.305          0.413          -1.544         0              270            0              43
  13  AlarmClock      0.402          0.971          -1.557         0              270            0              34
  14  TeddyBear       -2.236         0.000          1.457          0              319.128        0              Floor|+00.00|
  15  CreditCard      2.166          0.470          1.301          0              0              0              32
  16  KeyChain        0.201          0.971          -1.852         0              270            0              34
  17  Pillow          1.145          0.477          -0.247         0              0              0              44
  18  Pillow          2.135          0.477          0.419          0              0              0              44
  19  Laptop          -0.5           0.965          -1.715         0              24.156         0              34
  20  Bowl            0.471          0.965          -1.856         0              0              0              34
  21  Cloth           -1.288         0.000          -1.936         0              357.341        356.936        Floor|+00.00|
  22  CD              2.114          0.569          1.348          0              180            0              32
  23  Pen             2.252          0.578          1.240          0              90             0              32
  24  DeskLamp        2.302          0.561          1.435          0              315            0
  25  GarbageCan      -2.208         -0.023         -1.742         0              77.663         0
  26  Poster          2.439          1.508          0.014          90             270            0
  27  LightSwitch     -2.457         1.274          -0.096         0              90             0
  28  Mirror          2.454          1.322          -1.414         0              90             0
  29  Window          -1.440         1.815          -2.354         90             0              0
  30  Window          1.401          1.815          -2.354         90             0              0
  31  Drawer          2.251          0.468          1.333          0              270            0
  32  SideTable       2.243          -0.001         1.331          0              270            0
  33  Drawer          -0.385         0.681          -1.631         0              0              0
  34  Dresser         0.011          0.001          -1.676         0              0              0
  35  Drawer          -0.385         0.105          -1.631         0              0              0
  36  Drawer          0.408          0.868          -1.632         0              0              0
  37  Drawer          -0.385         0.487          -1.631         0              0              0
  38  Drawer          -0.385         0.868          -1.632         0              0              0
  39  Drawer          0.408          0.681          -1.631         0              0              0
  40  Drawer          0.408          0.105          -1.631         0              0              0
  41  Drawer          0.408          0.292          -1.631         0              0              0
  42  Drawer          -0.385         0.292          -1.631         0              0              0
  43  Drawer          0.408          0.487          -1.631         0              0              0
  44  Bed             1.377          0.004          0.072          0              90             0
  45  Blinds          1.422          3.115          -2.339         0              0              0
  46  Blinds          -1.422         3.115          -2.339         0              0              0
  47  Safe            1.640          0.000          -2.040         0              355.244        0
  48  LaundryHamper   -1.564         0.001          -1.927         0              45             0
  49  NorthWall
  50  EastWall
  51  SouthWall
  52  WestWall

Plan:
STEP 1: walk to the wall , turn right, walk to the night stand | STEP 2: turn on the lamp on the night stand | STEP 3: grab the disc on the right | END