Task: Turn the lamp on in order to grab the CD.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.0            0.900          -0.25          0              270            0
   1  CD              -0.600         0.895          -1.588         0              0              0              26
   2  CD              0.961          0.941          -1.937         0              0              0              32
   3  CD              -0.078         0.900          -1.495         0              0              0              26
   4  CellPhone       2.878          0.778          -1.503         0              180            0              36
   5  CellPhone       0.784          0.943          -1.91          0              0              0              32
   6  Pen             2.282          0.528          1.231          0              180            0              38
   7  Pen             0.607          0.947          -1.854         0              0              0              32
   8  Pencil          1.138          0.945          -1.91          0              0              0              32
   9  Pencil          2.359          0.528          1.110          0              180            0              38
  10  CreditCard      2.436          0.524          1.312          0              180            0              38
  11  CreditCard      -0.078         0.895          -1.310         0              0              0              26
  12  Book            -0.426         0.896          -1.310         0              0              0              26
  13  Book            2.591          0.525          1.191          0              180            0              38
  14  Laptop          2.329          0.774          -1.056         0              180            0              36
  15  Book            -1.031         0.651          -1.431         0              0              0              29
  16  Pen             2.514          0.530          1.272          0              180            0              38
  17  AlarmClock      -0.252         0.897          -1.217         0              0              0              26
  18  TeddyBear       1.324          0.827          -0.763         56.834         332.692        298.236        43
  19  CellPhone       0.253          0.943          -1.91          0              0              0              32
  20  Pencil          -1.122         0.904          -1.680         0              0              0              26
  21  Pillow          1.780          0.840          -1.354         0              180            0              36
  22  Laptop          -0.795         0.893          -1.384         0              0              0              26
  23  KeyChain        -0.252         0.896          -1.680         0              0              0              26
  24  CreditCard      -1.122         0.895          -1.310         0              0              0              26
  25  CD              -1.106         0.374          -1.279         0              0              0              27
  26  Desk            -0.503         0.006          -1.465         0              0              0
  27  Drawer          -0.945         0.493          -1.176         0              0              0
  28  Drawer          -0.946         0.212          -1.176         0              0              0
  29  Drawer          -0.944         0.739          -1.176         0              0              0
  30  DeskLamp        -0.124         0.899          -1.731         0              0              0
  31  LightSwitch     3.513          1.253          0.165          0              270            0
  32  Shelf           0.759          0.934          -1.909         0              0              0
  33  Mirror          2.407          1.294          1.401          0              0              0
  34  GarbageCan      3.347          -0.000         -0.027         0              270            0
  35  Window          0.717          1.603          -2.108         90             0              0
  36  Bed             2.301          0.005          -1.056         0              270            0
  37  Blinds          0.749          2.523          -2.022         0              0              0
  38  SideTable       2.436          0.002          1.143          0              180            0
  39  Drawer          2.437          0.122          1.154          0              180            0
  40  Drawer          2.437          0.350          1.153          0              180            0
  41  LaundryHamper   0.359          0.006          -1.505         0              280.399        358.305
  42  Chair           -0.308         0.009          -1.108         0              166.824        0
  43
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: Turn left, then left again then turn right to face the lamp on the desk. | STEP 2: Turn on the lamp. | STEP 3: Grab the CD from the desk. | END