Task: grab the credit card on the cabinet, turn on the lamp on the cabinet

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          0.0            0              270            0
   1  CD              -0.245         0.088          -0.653         0              0              0              38
   2  CD              2.253          0.048          2.634          0              0              0              30
   3  CellPhone       0.494          0.552          2.433          0              0              0              24
   4  CellPhone       2.333          0.844          -0.484         0              0              0              34
   5  Pen             2.145          0.464          -0.777         0              270            0              32
   6  Pen             -0.225         0.930          -0.391         0              0              0              39
   7  Pencil          2.145          0.100          -0.777         0              0              0              33
   8  Pencil          2.220          0.098          -0.679         0              0              0              33
   9  CreditCard      -0.320         0.924          -0.391         0              0              0              39
  10  KeyChain        -0.320         0.925          -1.459         0              0              0              39
  11  AlarmClock      -0.225         0.925          -1.245         0              0              0              39
  12  Box             2.15           0.14           0.494          0              12.243         0
  13  Book            2.285          0.844          -0.746         0              0              0              34
  14  BasketBall      -0.235         0.120          0.166          0              0              0
  15  Pen             -0.402         0.094          -0.285         0              0              0              38
  16  Pillow          -0.148         0.617          0.971          0              0              0              24
  17  Pencil          -0.320         0.928          -0.604         0              0              0              39
  18  CellPhone       2.285          0.844          -0.090         0              0              0              34
  19  KeyChain        2.220          0.094          -0.581         0              0              0              33
  20  CreditCard      -0.509         0.924          -0.604         0              0              0              39
  21  AlarmClock      -0.320         0.925          -0.177         0              0              0              39
  22  CD              -0.299         0.667          -0.192         0              0              0              40
  23  Laptop          -0.428         0.919          -0.901         0              20.959         0              39
  24  Bed             0.009          -0.004         1.577          0              0              0
  25  DeskLamp        -0.669         0.923          -0.062         0              90             0
  26  Painting        -0.787         1.809          -0.215         90             270            0
  27  Painting        -0.787         1.809          1.023          90             270            0
  28  Mirror          2.118          1.277          2.749          0              0              0
  29  LightSwitch     0.726          1.200          2.75           0              180            0
  30  GarbageCan      2.257          -0.008         2.603          353.970        0              0
  31  Window          0.665          1.356          -1.911         90             0              0
  32  Drawer          2.119          0.576          -0.491         4.458          270            0
  33  Drawer          2.147          0.213          -0.491         4.458          270            0
  34  SideTable       2.226          0.013          -0.492         4.458          270            0
  35  Chair           0.170          0.011          -1.214         0              261.719        0
  36  Blinds          0.695          1.983          -1.867         0              0              0
  37  Drawer          -0.079         0.513          -0.394         0              90             0
  38  Drawer          -0.079         0.226          -0.394         0              90             0
  39  Desk            -0.391         0.001          -0.811         0              90             0
  40  Drawer          -0.079         0.762          -0.394         0              90             0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: turn left, walk to the cabinet on the right | STEP 2: grab the credit card on the cabinet | STEP 3: walk to the left a little | STEP 4: turn on the lamp on the cabinet | END