Task: Carry a CD while turning 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           3.25           0.902          -0.75          0              0              0
   1  CD              1.633          0.500          -1.202         0              0              0              39
   2  CD              3.378          0.016          0.245          0              0              0              30
   3  CellPhone       -0.818         0.695          -0.573         0              0              0              25
   4  CellPhone       1.536          0.801          -1.279         0              0              0              45
   5  Pen             1.633          0.339          -2.211         0              0              0              44
   6  Pencil          1.586          0.659          -2.036         0              0              0              40
   7  Pencil          1.586          0.660          -2.386         0              0              0              40
   8  KeyChain        1.536          0.801          -2.407         0              90             0              45
   9  Laptop          -0.574         0.693          -0.146         0              0              0              25
  10  Book            -1.436         0.671          0.115          0              300.000        0              25
  11  KeyChain        1.586          0.015          -1.202         0              0              0              42
  12  AlarmClock      0.069          0.665          -2.578         0              0              0              50
  13  CreditCard      0.513          0.673          -2.570         0              0              0              50
  14  Laptop          1.663          0.794          -1.842         0              287.390        0              45
  15  Pen             1.597          0.807          -2.219         0              0              0              45
  16  Pencil          1.680          0.337          -2.036         0              0              0              44
  17  BaseballBat     -1.844         0.678          -2.203         0              0              8.760          Floor|+00.01|
  18  Pillow          -0.818         0.755          -1.001         0              0              0              25
  19  Pillow          -1.508         0.685          -0.378         0              288.596        0              25
  20  TennisRacket    -1.597         0.001          -1.367         90             37.792         0              Floor|+00.01|
  21  CellPhone       1.633          0.656          -1.638         0              0              0              38
  22  CD              1.586          0.499          -2.124         0              0              0              47
  23  Mug             1.597          0.798          -2.407         0              180            0              45
  24  Mirror          3.534          1.661          -0.277         0              90             0
  25  Bed             -0.842         -0.000         -0.361         0              270            0
  26  DeskLamp        1.742          0.819          -1.394         0              358.556        0
  27  Painting        0.246          1.564          -2.665         90             0              0
  28  Painting        1.894          1.549          -2.424         90             270            0
  29  Painting        1.894          1.549          -1.289         90             270            0
  30  GarbageCan      3.378          0.000          0.220          0              0              0
  31  LightSwitch     -0.078         1.219          1.298          0              180            0
  32  Window          -0.486         1.409          -2.691         90             0              0
  33  Window          0.987          1.409          -2.691         90             0              0
  34  VacuumCleaner   -1.649         0.010          -2.440         0              42.426         0
  35  Blinds          -0.490         2.130          -2.638         0              0              0
  36  Blinds          1.011          2.130          -2.638         0              0              0
  37  Drawer          1.596          0.411          -1.459         0              270            0
  38  Drawer          1.597          0.732          -1.459         0              270            0
  39  Drawer          1.597          0.574          -1.459         0              270            0
  40  Drawer          1.597          0.732          -2.202         0              270            0
  41  Drawer          1.596          0.247          -1.459         0              270            0
  42  Drawer          1.596          0.090          -1.459         0              270            0
  43  Drawer          1.596          0.247          -2.202         0              270            0
  44  Drawer          1.596          0.411          -2.202         0              270            0
  45  Dresser         1.634          0.003          -1.830         0              270            0
  46  Drawer          1.596          0.090          -2.202         0              270            0
  47  Drawer          1.597          0.574          -2.202         0              270            0
  48  ShelvingUnit    0.249          0.003          -2.519         0              0              0
  49  Shelf           0.017          0.178          -2.511         0              0              0
  50  Shelf           0.249          0.665          -2.519         0              0              0
  51  Shelf           0.243          0.344          -2.511         0              0              0
  52  Shelf           0.474          0.344          -2.511         0              0              0
  53  Shelf           0.355          0.011          -2.511         0              0              0
  54  Shelf           0.016          0.011          -2.511         0              0              0
  55  Shelf           0.357          0.178          -2.511         0              0              0
  56  NorthWall
  57  EastWall
  58  SouthWall
  59  WestWall

Plan:
STEP 1: Move forward facing the gold trash can on the floor | STEP 2: Pick up the CD sitting inside of the trash can | STEP 3: Turn around and carry the CD to the wood end table where the lamp is sitting | STEP 4: Turn on the lamp | END