Task: Carry a CD while turning on the lamp

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          0.5            0              270            0
   1  Mug             1.405          1.136          1.089          0              0              0              34
   2  KeyChain        1.356          0.729          1.727          0              0              0              37
   3  Book            1.205          0.780          0.107          0              0              0              26
   4  AlarmClock      1.152          0.729          1.396          0              0              0              37
   5  Laptop          0.829          0.776          0.107          0              0              0              26
   6  Book            1.145          0.721          1.806          0              0              0              36
   7  Box             -1.233         0.263          -1.435         0              312.675        0
   8  CellPhone       1.373          1.142          1.558          0              270            0              34
   9  BaseballBat     -1.717         0.708          -0.677         0              0              12.045
  10  Bowl            1.288          0.729          1.231          0              0              0              37
  11  BasketBall      -1.64          0.127          -1.652         0              0              0
  12  Laptop          0.829          0.776          -0.714         0              0              0              26
  13  CreditCard      1.247          1.138          1.246          0              270            0              34
  14  KeyChain        1.405          1.139          0.933          0              270            0              34
  15  AlarmClock      1.220          0.729          0.901          0              0              0              37
  16  Pencil          1.165          0.080          0.588          0              0              0              27
  17  Pillow          0.872          0.816          -1.513         0              0              0              26
  18  CD              0.138          0.689          -1.749         0              0              0              39
  19  Pen             1.247          1.144          1.402          0              270            0              34
  20  Mug             1.152          0.727          1.066          0              0              0              37
  21  Poster          0.978          1.970          -1.868         90             0              0
  22  Mirror          -0.884         1.350          2.086          0              0              0
  23  Poster          1.483          1.978          -1.210         90             270            0
  24  Poster          1.483          1.503          -0.128         90             270            0
  25  Poster          1.483          2.138          -0.128         90             270            0
  26  Bed             0.955          0.002          -0.722         0              0              0
  27  GarbageCan      1.133          0.032          0.581          0              0              0
  28  DeskLamp        -0.396         0.664          -1.666         0              315            0
  29  LightSwitch     0.554          1.154          2.079          0              180            0
  30  Window          -0.174         1.006          -2.009         90             0              0
  31  LaundryHamper   -1.425         0.006          1.676          0              149.999        0
  32  Chair           1.127          -8.434         1.053          0              90             0
  33  Blinds          -0.145         1.679          -1.986         0              0              0
  34  Shelf           1.316          1.174          1.388          0              270            0
  35  Drawer          1.099          0.167          1.724          0              270            0
  36  Drawer          1.099          0.622          1.724          0              270            0
  37  Desk            1.189          0.002          1.384          0              270            0
  38  Drawer          1.099          0.408          1.724          0              270            0
  39  SideTable       -0.103         -0.000         -1.691         0              0              0
  40  Drawer          -0.104         0.157          -1.618         0              0              0
  41  Drawer          -0.104         0.456          -1.618         0              0              0
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: Move to the night stand to the right of the bed where the CD is | STEP 2: Pick up the CD on top of the left of the night stand | STEP 3: Carry the CD to the right of the night stand where the lamp is | STEP 4: Turn on the lamp | END