Task: Grab the disc from the shelf, 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           -0.5           0.900          0.0            0              180            0
   1  Bowl            -1.283         1.824          -0.690         0              0              0              30
   2  Pencil          -0.817         0.796          -1.760         0              0              0              44
   3  Pencil          -0.523         0.796          -1.568         0              0              0              44
   4  CreditCard      -0.859         0.793          -1.275         0              53.910         0              44
   5  CreditCard      0.305          0.374          1.215          0              0              0              38
   6  KeyChain        -1.283         1.822          -0.515         0              0              0              30
   7  Book            -1.265         0.794          -0.385         0              180            0              44
   8  Book            0.150          0.673          1.303          0              0              0              36
   9  AlarmClock      -1.112         0.794          -1.760         0              0              0              44
  10  Book            1.387          0.578          -1.373         0              0              0              45
  11  Pencil          -1.194         0.796          -1.671         0              0              0              44
  12  Laptop          1.243          0.574          -0.891         0              0              0              23
  13  Pen             0.305          0.696          1.349          5.924          358.865        352.798        36
  14  TennisRacket    -1.226         0.301          -0.069         15.000         180            180
  15  TeddyBear       1.629          0.557          -1.064         0              118.287        0              45
  16  Pillow          1.098          0.666          -0.408         0              0              0              23
  17  CellPhone       -1.309         1.824          -1.519         0              0              0              31
  18  KeyChain        -0.180         0.837          -2.107         0              0              0              27
  19  AlarmClock      -0.585         0.838          -2.107         0              0              0              27
  20  CreditCard      -0.523         0.793          -1.824         0              0              0              44
  21  CD              -1.309         1.458          -1.168         0              0              0              28
  22  Bowl            0.414          0.675          -1.635         0              0              0              43
  23  Bed             1.242          -0.001         -0.881         0              180            0
  24  LightSwitch     0.010          1.315          1.499          0              180            0
  25  GarbageCan      0.840          0.007          1.337          0              180            2.168
  26  HousePlant      -0.083         0.828          -2.045         0              0              0
  27  Shelf           -0.469         0.828          -2.038         0              0              0
  28  Shelf           -1.286         1.451          -1.343         0              0              0
  29  Shelf           -1.286         1.451          -0.602         0              0              0
  30  Shelf           -1.286         1.814          -0.602         0              0              0
  31  Shelf           -1.286         1.814          -1.343         0              0              0
  32  Painting        1.111          1.628          -1.865         90             0              0
  33  DeskLamp        0.473          0.669          1.350          0              0              0
  34  Mirror          -1.383         1.565          0.512          0              270            0
  35  Window          -0.472         1.396          -2.252         90             0              0
  36  SideTable       0.304          -0.001         1.225          0              180            0
  37  Drawer          0.304          0.165          1.159          0              180            0
  38  Drawer          0.304          0.457          1.159          0              180            0
  39  Blinds          -0.453         2.156          -2.242         0              0              0
  40  Safe            1.623          5.960          0.448          0              270            0
  41  Chair           -0.683         0.000          -1.326         0              217.223        0
  42  Drawer          0.416          0.532          -1.553         0              0              0
  43  SideTable       0.413          0.000          -1.684         0              0              0
  44  Desk            -0.788         0.000          -1.032         0              90             0
  45
  46  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: Walk to the table, turn right | STEP 2: Grab the disc from the shelf above the table | STEP 3: Turn right, walk to the cabinet by the door | STEP 4: Turn on the lamp on the cabinet | END