Task: Put a disc on a table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.910          4.0            0              0              0
   1  Mug             2.447          0.742          -1.588         0              0              0              50
   2  CellPhone       2.770          0.842          0.230          0              0              0              42
   3  CellPhone       2.533          0.094          0.428          0              0              0              43
   4  Pencil          -0.815         0.916          4.35           0              0              0              30
   5  Pencil          -0.749         0.916          4.900          0              0              0              30
   6  KeyChain        2.529          0.843          0.624          0              0              0              42
   7  KeyChain        -0.815         0.914          4.900          0              90             0              30
   8  Book            -0.946         0.912          4.166          0              0              0              30
   9  Book            2.576          0.807          2.392          0              0              0              41
  10  AlarmClock      -0.749         0.921          3.799          0              0              0              30
  11  Laptop          -0.946         0.911          4.717          0              0              0              30
  12  Laptop          -0.594         0.712          1.973          0              0              0              27
  13  Book            -1.312         0.713          1.408          0              0              0              27
  14  AlarmClock      2.367          0.815          2.613          0              0              0              41
  15  CellPhone       -1.307         0.399          -1.314         0              90             0              39
  16  Bowl            -1.054         0.899          3.879          0              0              0              30
  17  CreditCard      2.529          0.842          0.886          0              0              0              42
  18  KeyChain        2.618          0.462          0.330          0              0              0              44
  19  RemoteControl   -0.749         0.914          4.533          0              0              0              30
  20  Laptop          0.123          0.712          2.539          0              0              0              27
  21  Pencil          -0.815         0.916          3.982          0              0              0              30
  22  Pillow          -0.959         0.752          2.977          0              0              0              27
  23  Pillow          -0.247         0.752          2.960          0              0              0              27
  24  CD              2.770          0.842          1.017          0              0              0              42
  25  Pen             2.69           0.848          0.230          0              0              0              42
  26  Mug             2.609          0.841          0.230          0              0              0              42
  27  Bed             -0.594         0.009          2.298          0              0              0
  28  Mirror          -1.184         1.603          4.348          0              0              0
  29  Television      2.738          1.330          0.622          0              270            0
  30  CounterTop      -0.890         0.951          4.349          0              0              0
  31  LightSwitch     0.800          1.371          5.245          0              90             0
  32  Painting        2.992          1.529          3.415          90             270            0
  33  Painting        2.992          1.529          2.553          90             270            0
  34  DeskLamp        2.625          0.772          -1.469         0              0              0
  35  DeskLamp        2.668          0.810          3.082          0              358.947        0
  36  GarbageCan      -0.626         -0.009         3.742          0              0              0
  37  Window          -0.453         1.450          -2.058         90             180            0
  38  SideTable       2.565          0.009          -1.534         0              0              0
  39  ArmChair        -1.277         0.009          -1.169         0              90             0
  40  Blinds          -0.5           2.174          -1.957         0              0              0
  41  Desk            2.572          0.011          3.054          0              270            0
  42  SideTable       2.645          0.009          0.624          0              270            0
  43  Drawer          2.525          0.214          0.624          0              270            0
  44  Drawer          2.525          0.578          0.624          0              270            0
  45  ArmChair        2.424          0.009          -0.564         0              270            0
  46  LaundryHamper   3.457          0.009          4.555          0              270            0
  47  Chair           2.591          0.020          2.015          0              0              0
  48  Chair           2.184          0.020          3.440          0              120.016        0
  49  Chair           2.211          0.020          2.592          0              74.981         0
  50
  51  NorthWall
  52  EastWall
  53  SouthWall
  54  WestWall

Plan:
STEP 1: Turn right, hang a right at the table, turn left at the end of the table and face the white television stand on the right. | STEP 2: Pick up the silver disc next to the television on the stand. | STEP 3: Turn right, hang a right around the end of the table and turn right to face the table in between the two red chairs. | STEP 4: Put the disc on the table close to the edge near the left chair. | END