Task: turn on a floor lamp with a blue disk in hand

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.5            0.900          -1.75          0              0              0
   1  Vase            -2.020         0.449          -0.237         0              0              0              41
   2  Statue          -2.102         0.457          -0.109         0              0              0              41
   3  Candle          -2.020         0.447          0.145          0              0              0              41
   4  Candle          -1.774         0.447          -0.237         0              0              0              41
   5  CreditCard      1.662          0.784          0.077          0              0              0              40
   6  CreditCard      -0.371         0.190          0.901          0              270            0              33
   7  Box             -3.341         0.736          -0.297         0              0              0              35
   8  Laptop          -3.341         0.582          0.213          0              0              0              35
   9  Box             1.27           0.155          -0.293         0              9.804          0              40
  10  Candle          -1.938         0.447          0.273          0              0              0              41
  11  Vase            -1.774         0.449          0.273          0              0              0              41
  12  CreditCard      -1.938         0.447          -0.109         0              0              0              41
  13  Vase            2.548          0.793          -0.415         0              0              0              40
  14  WateringCan     -3.252         -0.000         -1.861         0              0              0
  15  Laptop          2.105          0.782          -0.538         0              0              0              40
  16  RemoteControl   -2.184         0.448          0.018          0              0              0              41
  17  Statue          -1.480         0.715          2.831          0              0              0              37
  18  KeyChain        -0.371         0.281          1.061          0              0              0              33
  19  Pillow          -1.921         0.36           -1.500         0              0              0              34
  20  Plate           1.662          0.789          -0.168         0              0              0              40
  21  Statue          -2.102         0.459          0.145          0              0              0              41
  22  LightSwitch     -3.900         1.284          1.684          0              90             0
  23  GarbageCan      0.299          5.066          1.253          0              2.215          0
  24  FloorLamp       -0.331         0.001          2.728          0              0              0
  25  Painting        -0.056         1.601          1.733          90             270            0
  26  Painting        4.136          1.590          -0.296         90             270            0
  27  Television      -1.859         1.200          2.702          358.970        180            0
  28  HousePlant      -3.580         0.604          -1.617         0              0              0
  29  Window          1.478          1.506          -1.927         90             0              0
  30  Window          -2.003         1.506          -1.927         90             0              0
  31  Window          3.480          1.506          -1.927         90             0              0
  32  ArmChair        -0.437         0.005          1.923          0              270            0
  33  ArmChair        -0.430         0.005          1.062          0              270            0
  34  ArmChair        -2.004         0.005          -1.578         0              0              0
  35  Sofa            -3.419         0.009          -0.042         0              90             0
  36  DiningTable     -1.857         0.231          2.787          0              0              0
  37  TVStand         -1.857         0.000          2.788          0              0              0
  38  SideTable       -3.597         0.004          1.437          0              0              0
  39  SideTable       -3.597         0.004          -1.607         0              0              0
  40  DiningTable     1.883          0.000          -0.291         0              0              0
  41  CoffeeTable     -2.023         0.005          0.018          0              270            0
  42  Chair           1.462          -0.001         0.195          0              164.999        0
  43  Chair           2.288          -0.001         -0.780         0              0              0
  44  Chair           2.223          -0.001         0.149          0              186.648        0
  45  Chair           1.638          -0.001         -0.847         0              0              0
  46  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: walk through the living room, face the coffee table on the right side | STEP 2: pick up the blue disk on the left of the table | STEP 3: turn around, walk to the two beige chairs underneath a picture and next to a floor lamp | STEP 4: turn on the floor lamp | END