Task: turn on the desk lamp while holding a disk

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           0.900          -1.75          0              180            0
   1  CD              2.211          0.896          -2.975         0              0              0              37
   2  CD              1.316          0.019          -3.342         0              0              0              28
   3  Pen             2.740          0.895          -2.968         37.930         0              0              37
   4  Pen             1.858          0.366          -3.063         0              0              0              34
   5  CreditCard      -2.381         0.082          -3.321         0              270            0              38
   6  CreditCard      2.643          0.924          1.511          0              270            0              42
   7  KeyChain        2.713          0.094          1.595          0              270            0              41
   8  KeyChain        -2.437         0.674          -0.435         1.262          88.962         358.995        46
   9  Laptop          -1.025         0.617          -2.061         0              0              0              24
  10  Book            2.729          0.890          -3.105         0              1.885          0              51
  11  CreditCard      1.783          0.361          -3.101         0              0              0              34
  12  Pen             1.694          0.902          -3.251         0              0              0              37
  13  Pencil          2.553          0.891          -3.112         6.641          0              1.782          37
  14  TeddyBear       -0.667         0.612          -1.364         0              81.467         0              24
  15  Laptop          -1.31          0.612          -1.542         0              0              0              24
  16  AlarmClock      -2.484         0.684          -3.227         0              90             0              39
  17  CellPhone       2.779          1.228          1.397          0              270            0              44
  18  KeyChain        2.685          1.228          1.511          0              270            0              44
  19  Pillow          -2.124         0.658          -1.522         0              28.296         0              24
  20  Pillow          -2.378         0.637          -2.330         0              0              0              24
  21  CD              2.735          1.249          1.737          0              0              0              33
  22  Mug             -2.575         0.673          -0.513         0              0              0              46
  23  Bowl            1.840          0.889          -3.239         0              0              0              37
  24  Bed             -1.613         -0.028         -1.861         0              270            0
  25  DeskLamp        2.760          0.890          -3.317         0              90             0
  26  DeskLamp        -2.459         0.668          -0.532         0              90             0
  27  LightSwitch     -0.700         1.016          0.334          0              90             0
  28  GarbageCan      1.343          1.087          -3.374         0              0              0
  29  Mirror          0.532          1.419          2.0            0              0              0
  30  Window          -0.834         1.394          -3.653         90             0              0
  31  Window          2.958          1.508          -1.019         90             270            0
  32  Sofa            2.383          0.008          -0.288         0              270            0
  33  Safe            2.721          1.228          1.784          0              270            0
  34  Drawer          1.979          0.486          -2.988         0              0              0
  35  Drawer          1.979          0.728          -2.988         0              0              0
  36  Drawer          1.979          0.208          -2.988         0              0              0
  37  Desk            2.318          -0.009         -3.214         0              0              0
  38  Drawer          -2.349         0.163          -3.150         0              90             0
  39  SideTable       -2.416         -0.001         -3.149         0              90             0
  40  Drawer          -2.349         0.455          -3.150         0              90             0
  41  Drawer          2.641          0.172          1.511          0              270            0
  42  Drawer          2.641          1.002          1.511          0              270            0
  43  Drawer          2.641          0.448          1.511          0              270            0
  44  Dresser         2.676          0.002          1.511          0              270            0
  45  Drawer          2.641          0.725          1.511          0              270            0
  46  SideTable       -2.416         -0.001         -0.514         0              90             0
  47  Drawer          -2.349         0.163          -0.514         0              90             0
  48  Drawer          -2.349         0.455          -0.514         0              90             0
  49  Blinds          -0.800         2.087          -3.627         0              0              0
  50  Blinds          2.931          2.166          -1.0           0              270            0
  51  Chair           2.574          0.002          -2.881         0              175.162        0
  52  NorthWall
  53  EastWall
  54  SouthWall
  55  WestWall

Plan:
STEP 1: turn left and head to the table | STEP 2: pick up the disk on the table | STEP 3: move left to the desk lamp on the table | STEP 4: turn on the desk lamp on the table | END