Task: Look at a disk by the light of the lamp.

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           0.900          1.25           0              180            0
   1  CD              1.371          0.019          -3.407         0              0              0              29
   2  CellPhone       -0.742         0.619          -2.261         0              0              0              25
   3  CellPhone       -1.874         0.619          -1.262         0              0              0              25
   4  Pencil          2.211          0.901          -2.975         0              0              0              38
   5  Pencil          -2.575         0.685          -3.149         0              90             0              40
   6  CreditCard      -2.452         0.082          -0.399         0              270            0              48
   7  KeyChain        2.747          0.645          1.426          0              0              0              46
   8  KeyChain        2.039          0.896          -3.389         0              0              0              38
   9  Book            2.188          0.353          -0.296         0              0              0              33
  10  Laptop          -1.025         0.617          -2.261         0              0              0              25
  11  Book            -1.591         0.618          -1.262         0              0              0              25
  12  CreditCard      1.694          0.896          -3.251         0              0              0              38
  13  Pen             -2.620         0.686          -3.304         0              90             0              40
  14  Pencil          2.384          0.901          -3.389         0              0              0              38
  15  TeddyBear       -0.667         0.612          -1.364         0              81.467         0              25
  16  Laptop          -1.874         0.617          -2.061         0              0              0              25
  17  AlarmClock      2.556          0.900          -3.182         0              0              0              38
  18  CellPhone       2.336          0.307          -0.742         0              0              0              33
  19  KeyChain        2.685          1.228          1.626          0              270            0              34
  20  Pillow          -2.124         0.658          -1.522         0              28.296         0              25
  21  Pillow          -2.378         0.637          -2.330         0              0              0              25
  22  CD              -2.439         0.680          -3.382         0              90             0              40
  23  Mug             2.384          0.894          -3.044         0              0              0              38
  24  Bowl            1.840          0.889          -3.239         0              0              0              38
  25  Bed             -1.613         -0.028         -1.861         0              270            0
  26  DeskLamp        2.760          0.890          -3.317         0              90             0
  27  DeskLamp        -2.459         0.668          -0.532         0              90             0
  28  LightSwitch     -0.700         1.016          0.334          0              90             0
  29  GarbageCan      1.343          1.087          -3.374         0              0              0
  30  Mirror          0.532          1.419          2.0            0              0              0
  31  Window          -0.834         1.394          -3.653         90             0              0
  32  Window          2.958          1.508          -1.019         90             270            0
  33  Sofa            2.383          0.008          -0.288         0              270            0
  34  Safe            2.721          1.228          1.784          0              270            0
  35  Drawer          1.979          0.486          -2.988         0              0              0
  36  Drawer          1.979          0.728          -2.988         0              0              0
  37  Drawer          1.979          0.208          -2.988         0              0              0
  38  Desk            2.318          -0.009         -3.214         0              0              0
  39  Drawer          -2.349         0.163          -3.150         0              90             0
  40  SideTable       -2.416         -0.001         -3.149         0              90             0
  41  Drawer          -2.349         0.455          -3.150         0              90             0
  42  Drawer          2.641          0.172          1.511          0              270            0
  43  Drawer          2.641          1.002          1.511          0              270            0
  44  Drawer          2.641          0.448          1.511          0              270            0
  45  Dresser         2.676          0.002          1.511          0              270            0
  46  Drawer          2.641          0.725          1.511          0              270            0
  47  SideTable       -2.416         -0.001         -0.514         0              90             0
  48  Drawer          -2.349         0.163          -0.514         0              90             0
  49  Drawer          -2.349         0.455          -0.514         0              90             0
  50  Blinds          -0.800         2.087          -3.627         0              0              0
  51  Blinds          2.931          2.166          -1.0           0              270            0
  52  Chair           2.574          0.002          -2.881         0              175.162        0
  53  NorthWall
  54  EastWall
  55  SouthWall
  56  WestWall

Plan:
STEP 1: Go past the bed on the right to the nightstand on the left of the bed. | STEP 2: Pick up the disk on the nightstand. | STEP 3: Turn and go around the bed to the opposite side to the nightstand. | STEP 4: Turn on the lamp on the nightstand. | END