Task: Examine a CD by the light of a table lamp.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.900          0.0            0              180            0
   1  CD              -1.192         0.861          -2.561         0              0              0              58
   2  CellPhone       0.355          0.812          -2.440         0              0              0              51
   3  CellPhone       1.103          0.774          1.657          0              0              0              29
   4  Pencil          -0.990         0.865          -2.248         0              0              0              58
   5  Pencil          1.467          0.827          -1.363         0              270            0              49
   6  KeyChain        0.459          0.812          -2.304         0              0              0              51
   7  Book            -0.333         0.774          1.012          0              0              0              29
   8  Book            0.241          0.774          0.850          0              0              0              29
   9  Laptop          0.528          0.772          1.819          0              0              0              29
  10  AlarmClock      -0.587         0.862          -2.248         0              0              0              58
  11  AlarmClock      1.467          0.824          -1.776         0              270            0              49
  12  Book            -1.393         0.861          -2.498         0              0              0              58
  13  Cloth           1.303          0.0            -0.696         0              303.212        0
  14  Cloth           1.273          0.0            -0.969         0              0              0
  15  CellPhone       -1.580         0.652          -2.325         0              0              0              57
  16  Pencil          -1.232         0.656          -2.325         0              0              0              57
  17  Laptop          0.528          0.772          1.173          0              0              0              29
  18  AlarmClock      -0.061         0.812          -2.440         0              0              0              51
  19  CreditCard      1.522          0.823          -1.467         0              270            0              49
  20  KeyChain        -1.192         0.862          -2.436         0              0              0              58
  21  TennisRacket    -1.704         0.345          1.743          345.000        90             180
  22  RemoteControl   -1.232         0.373          -2.325         0              0              0              56
  23  Pillow          -0.046         0.902          1.335          0              0              0              29
  24  CD              -1.667         0.087          -2.325         0              0              0              55
  25  CD              -0.990         0.861          -2.498         0              0              0              58
  26  CD              -0.990         0.861          -2.373         0              0              0              58
  27  Pen             -1.406         0.093          -2.325         0              0              0              55
  28  Bowl            0.042          0.813          -2.236         0              0              0              51
  29  Bed             0.270          0.001          1.331          0              90             0
  30  LaundryHamper   -1.329         0.001          1.829          0              180            0
  31  Television      -1.664         1.479          -0.912         0              90             0
  32  DeskLamp        0.049          0.815          -2.481         0              0              0
  33  LightSwitch     -1.799         1.213          0.680          0              90             0
  34  Painting        0.492          1.684          -2.629         90             0              0
  35  Poster          -1.799         1.690          -1.491         90             270            0
  36  GarbageCan      1.306          -0.001         -2.451         0              317.376        0
  37  Mirror          1.5            1.361          -0.542         0              90             0
  38  Window          1.721          1.365          -1.597         90             270            0
  39  Shelf           -1.605         0.435          -0.686         0              90             0
  40  Shelf           -1.613         1.154          -0.904         0              90             0
  41  ShelvingUnit    -1.611         0.005          -0.904         0              90             0
  42  Shelf           -1.605         0.719          -1.122         0              90             0
  43  Shelf           -1.605         0.435          -1.122         0              90             0
  44  Shelf           -1.605         1.006          -1.122         0              90             0
  45  Shelf           -1.605         0.148          -0.686         0              90             0
  46  Shelf           -1.605         0.149          -1.122         0              90             0
  47  Shelf           -1.605         1.006          -0.686         0              90             0
  48  Shelf           -1.605         0.719          -0.686         0              90             0
  49  SideTable       1.484          0.001          -1.481         0              270            0
  50  Blinds          1.699          2.096          -1.575         0              270            0
  51  Desk            0.244          0.004          -2.356         0              0              0
  52  Chair           -0.626         1.439          -2.199         0              171.006        0
  53  Chair           0.220          1.466          -2.214         0              188.269        0
  54  Shelf           -0.978         1.387          -2.479         0              0              0
  55  Drawer          -1.389         0.197          -2.261         0              0              0
  56  Drawer          -1.389         0.480          -2.261         0              0              0
  57  Drawer          -1.389         0.731          -2.261         0              0              0
  58  Desk            -0.973         1.162          -2.351         0              0              0
  59  NorthWall
  60  EastWall
  61  SouthWall
  62  WestWall

Plan:
STEP 1: Walk forward to the desk. | STEP 2: Pick up the CD which is closest to you. | STEP 3: Turn left and walk towards the lamp at the edge of the desk. | STEP 4: Turn on the lamp. | END