Task: grab the disc on the dresser, turn on the lamp on 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           -2.25          0.901          0.5            0              180            0
   1  CellPhone       0.897          0.418          0.086          0              0              0              43
   2  Pen             0.201          0.976          -1.705         0              270            0              33
   3  Pencil          0.604          0.975          -1.705         0              270            0              33
   4  KeyChain        -0.602         0.973          -1.631         0              90             0              33
   5  KeyChain        1.643          0.041          -1.973         0              88.075         0              46
   6  Book            0.491          0.218          -1.656         0              270            0              40
   7  Box             -1.751         0.252          1.499          0              340.773        0              Floor|+00.00|
   8  Book            -0.602         0.974          -1.778         0              270            0              33
   9  Cloth           -1.146         0.000          -2.123         0              0              0              Floor|+00.00|
  10  CellPhone       0.649          0.418          0.419          0              0              0              43
  11  Pencil          0.000          0.974          -1.631         0              270            0              33
  12  AlarmClock      -0.401         0.972          -1.852         0              270            0              33
  13  TeddyBear       -2.236         0.000          1.457          0              319.128        0              Floor|+00.00|
  14  CreditCard      2.252          0.572          1.294          0              180            0              31
  15  KeyChain        -0.394         0.411          -1.544         0              270            0              36
  16  Pillow          2.11           0.422          0.331          0              270            0              43
  17  Pillow          2.15           0.433          -0.241         0              282.078        0              43
  18  Laptop          1.392          0.413          0.086          0              0              0              43
  19  Bowl            0.471          0.965          -1.856         0              0              0              33
  20  Cloth           -1.288         0.000          -1.936         0              357.341        356.936        Floor|+00.00|
  21  CD              0.402          0.970          -1.557         0              270            0              33
  22  Pen             0.201          0.976          -1.852         0              270            0              33
  23  DeskLamp        2.302          0.561          1.435          0              315            0
  24  GarbageCan      -2.208         -0.023         -1.742         0              77.663         0
  25  Poster          2.439          1.508          0.014          90             270            0
  26  LightSwitch     -2.457         1.274          -0.096         0              90             0
  27  Mirror          2.454          1.322          -1.414         0              90             0
  28  Window          -1.440         1.815          -2.354         90             0              0
  29  Window          1.401          1.815          -2.354         90             0              0
  30  Drawer          2.251          0.468          1.333          0              270            0
  31  SideTable       2.243          -0.001         1.331          0              270            0
  32  Drawer          -0.385         0.681          -1.631         0              0              0
  33  Dresser         0.011          0.001          -1.676         0              0              0
  34  Drawer          -0.385         0.105          -1.631         0              0              0
  35  Drawer          0.408          0.868          -1.632         0              0              0
  36  Drawer          -0.385         0.487          -1.631         0              0              0
  37  Drawer          -0.385         0.868          -1.632         0              0              0
  38  Drawer          0.408          0.681          -1.631         0              0              0
  39  Drawer          0.408          0.105          -1.631         0              0              0
  40  Drawer          0.408          0.292          -1.631         0              0              0
  41  Drawer          -0.385         0.292          -1.631         0              0              0
  42  Drawer          0.408          0.487          -1.631         0              0              0
  43  Bed             1.377          0.004          0.072          0              90             0
  44  Blinds          1.422          3.115          -2.339         0              0              0
  45  Blinds          -1.422         3.115          -2.339         0              0              0
  46  Safe            1.640          0.000          -2.040         0              355.244        0
  47  LaundryHamper   -1.564         0.001          -1.927         0              45             0
  48  NorthWall
  49  EastWall
  50  SouthWall
  51  WestWall

Plan:
STEP 1: turn left, walk to the bed, turn right, to the dresser | STEP 2: grab  the disc on the dresser | STEP 3: turn around, walk around the bed to the night stand | STEP 4: turn on the lamp on the night stand, | END