Task: Inspect a CD by a lit lamp.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.75           0.900          -1.5           0              90             0
   1  Pen             -0.297         0.094          -0.377         0              0              0              36
   2  Pen             2.145          0.102          -0.777         0              270            0              31
   3  Pencil          2.197          0.053          2.634          0              0              0              28
   4  Pencil          2.225          0.053          2.579          0              0              0              28
   5  CreditCard      2.095          0.842          -0.090         0              0              0              32
   6  CreditCard      2.333          0.842          -0.352         0              0              0              32
   7  KeyChain        2.195          0.461          -0.386         0              0              0              30
   8  Book            0.333          0.551          1.263          0              0              0              22
   9  Book            -0.247         0.669          -0.376         0              0              0              38
  10  Box             2.15           0.14           0.494          0              12.243         0
  11  Book            -0.309         0.551          1.555          0              0              0              22
  12  BasketBall      -0.235         0.120          0.166          0              0              0
  13  Pen             2.143          0.848          -0.090         0              0              0              32
  14  Pillow          0.172          0.617          0.678          0              0              0              22
  15  Pencil          2.285          0.846          -0.352         0              180            0              32
  16  CellPhone       -0.225         0.926          -0.604         0              0              0              37
  17  KeyChain        2.380          0.843          -0.615         0              0              0              32
  18  CreditCard      -0.698         0.924          -0.391         0              0              0              37
  19  AlarmClock      -0.603         0.925          -0.391         0              0              0              37
  20  CD              -0.698         0.924          -1.459         0              0              0              37
  21  Laptop          0.012          0.548          2.140          0              0              0              22
  22  Bed             0.009          -0.004         1.577          0              0              0
  23  DeskLamp        -0.669         0.923          -0.062         0              90             0
  24  Painting        -0.787         1.809          -0.215         90             270            0
  25  Painting        -0.787         1.809          1.023          90             270            0
  26  Mirror          2.118          1.277          2.749          0              0              0
  27  LightSwitch     0.726          1.200          2.75           0              180            0
  28  GarbageCan      2.257          -0.008         2.603          353.970        0              0
  29  Window          0.665          1.356          -1.911         90             0              0
  30  Drawer          2.119          0.576          -0.491         4.458          270            0
  31  Drawer          2.147          0.213          -0.491         4.458          270            0
  32  SideTable       2.226          0.013          -0.492         4.458          270            0
  33  Chair           0.170          0.011          -1.214         0              261.719        0
  34  Blinds          0.695          1.983          -1.867         0              0              0
  35  Drawer          -0.079         0.513          -0.394         0              90             0
  36  Drawer          -0.079         0.226          -0.394         0              90             0
  37  Desk            -0.391         0.001          -0.811         0              90             0
  38  Drawer          -0.079         0.762          -0.394         0              90             0
  39  NorthWall
  40  EastWall
  41  SouthWall
  42  WestWall

Plan:
STEP 1: Turn around, go straight to the desk. | STEP 2: Take the CD from the desk. | STEP 3: Turn right, go to the end of the desk before the bed, turn left towards the desk. | STEP 4: Turn on the lamp on the desk. | END