Task: Pick up a CD and turn on a lamp.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.75          0.909          -4.0           0              270            0
   1  CellPhone       -2.770         0.620          -2.080         0              0              0              20
   2  CreditCard      -3.466         0.981          -3.070         0              0              0              38
   3  CreditCard      -3.760         0.981          -3.271         0              0              0              38
   4  KeyChain        -3.613         0.980          -3.070         0              0              0              38
   5  KeyChain        -3.687         0.982          -4.276         0              0              0              38
   6  AlarmClock      -1.474         0.803          -3.811         0              0              0              35
   7  Book            -1.270         0.804          -4.029         0              0              0              35
   8  CellPhone       -0.862         0.800          -3.703         0              0              0              35
   9  Laptop          -2.559         0.618          -1.506         0              0              0              20
  10  CreditCard      -3.526         0.225          -4.256         0              0              0              42
  11  AlarmClock      -0.418         0.542          -3.713         0              0              0              35
  12  KeyChain        -0.862         0.800          -4.137         0              90             0              35
  13  TeddyBear       -2.567         0.575          -0.386         357.948        14.682         7.781          20
  14  BaseballBat     -1.155         0.033          -3.997         90             59.999         0              Floor|-01.88|
  15  Pencil          -1.886         0.065          -3.968         0              9.990          0              24
  16  Pillow          -3.335         0.681          -0.415         0              0              0              20
  17  CD              -3.613         0.980          -3.874         0              0              0              38
  18  Pen             -3.687         0.985          -3.472         0              0              0              38
  19  Mug             -1.066         0.798          -4.137         0              0              0              35
  20  Bed             -2.980         0.009          -1.177         0              0              0
  21  LightSwitch     -1.620         1.351          0.0            0              180            0
  22  DeskLamp        -1.529         0.790          -4.298         0              0              0
  23  Mirror          -0.002         1.251          -2.592         0              90             0
  24  GarbageCan      -1.843         -0.017         -3.897         0              279.992        0
  25  Window          0.209          1.180          -1.504         90             270            0
  26  Drawer          -0.503         0.067          -4.188         0              180            0
  27  Drawer          -0.502         0.226          -3.799         0              0              0
  28  Drawer          -0.502         0.385          -3.799         0              0              0
  29  CoffeeTable     -0.503         0.009          -3.990         0              0              0
  30  Drawer          -0.502         0.067          -3.799         0              0              0
  31  Blinds          0.163          2.196          -1.495         0              270            0
  32  TableTopDecor   -3.586         0.996          -3.055         0              180            0
  33  Drawer          -0.503         0.385          -4.188         0              180            0
  34  Drawer          -0.503         0.226          -4.188         0              180            0
  35  Desk            -0.862         0.006          -4.028         0              0              0
  36  Drawer          -3.609         0.876          -4.055         0              90             0
  37  Drawer          -3.608         0.112          -3.261         0              90             0
  38  Dresser         -3.653         0.008          -3.658         0              90             0
  39  Drawer          -3.609         0.688          -3.261         0              90             0
  40  Drawer          -3.609         0.300          -3.261         0              90             0
  41  Drawer          -3.609         0.494          -4.055         0              90             0
  42  Drawer          -3.609         0.300          -4.055         0              90             0
  43  Drawer          -3.608         0.112          -4.055         0              90             0
  44  Drawer          -3.609         0.688          -4.055         0              90             0
  45  Drawer          -3.609         0.876          -3.261         0              90             0
  46  Drawer          -3.609         0.494          -3.261         0              90             0
  47  NorthWall
  48  EastWall
  49  SouthWall
  50  WestWall

Plan:
STEP 1: Turn to the right, move forward, turn to the left to the dresser. | STEP 2: Pick up the CD that is on the dresser between the pen and keys. | STEP 3: Turn around, go to the white table with the lamp on it. | STEP 4: Turn on the lamp. | END