Task: Pick up the CD, turn on the lamp in the corner

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.901          -1.25          0              270            0
   1  CellPhone       0.604          0.974          -1.557         0              270            0              36
   2  CellPhone       1.533          0.043          -1.872         0              88.075         0              49
   3  Pen             0.490          0.611          -1.656         0              270            0              41
   4  Pencil          -0.303         0.609          -1.712         0              270            0              35
   5  CreditCard      0.604          0.972          -1.705         0              270            0              36
   6  KeyChain        0.000          0.973          -1.557         0              270            0              36
   7  KeyChain        1.807          0.041          -2.072         0              268.075        0              49
   8  Book            0.398          0.801          -1.711         0              270            0              38
   9  Laptop          1.640          0.413          0.086          0              0              0              46
  10  Box             -1.751         0.252          1.499          0              340.773        0              Floor|+00.00|
  11  Book            0.897          0.417          0.585          0              0              0              46
  12  Cloth           -1.146         0.000          -2.123         0              0              0              Floor|+00.00|
  13  CellPhone       0.402          0.975          -1.484         0              270            0              36
  14  Pencil          -0.300         0.039          -1.598         0              270            0              37
  15  AlarmClock      0.201          0.971          -1.705         0              270            0              36
  16  TeddyBear       -2.236         0.000          1.457          0              319.128        0              Floor|+00.00|
  17  CreditCard      -0.672         0.410          -1.712         0              270            0              39
  18  KeyChain        0.120          0.606          -1.544         0              270            0              41
  19  Pillow          2.11           0.422          0.331          0              270            0              46
  20  Pillow          2.15           0.433          -0.241         0              282.078        0              46
  21  Laptop          -0.5           0.965          -1.715         0              24.156         0              36
  22  Bowl            0.471          0.965          -1.856         0              0              0              36
  23  Cloth           -1.288         0.000          -1.936         0              357.341        356.936        Floor|+00.00|
  24  CD              0.000          0.971          -1.852         0              270            0              36
  25  Pen             2.160          0.571          1.512          0              180            0              34
  26  DeskLamp        2.302          0.561          1.435          0              315            0
  27  GarbageCan      -2.208         -0.023         -1.742         0              77.663         0
  28  Poster          2.439          1.508          0.014          90             270            0
  29  LightSwitch     -2.457         1.274          -0.096         0              90             0
  30  Mirror          2.454          1.322          -1.414         0              90             0
  31  Window          -1.440         1.815          -2.354         90             0              0
  32  Window          1.401          1.815          -2.354         90             0              0
  33  Drawer          2.251          0.468          1.333          0              270            0
  34  SideTable       2.243          -0.001         1.331          0              270            0
  35  Drawer          -0.385         0.681          -1.631         0              0              0
  36  Dresser         0.011          0.001          -1.676         0              0              0
  37  Drawer          -0.385         0.105          -1.631         0              0              0
  38  Drawer          0.408          0.868          -1.632         0              0              0
  39  Drawer          -0.385         0.487          -1.631         0              0              0
  40  Drawer          -0.385         0.868          -1.632         0              0              0
  41  Drawer          0.408          0.681          -1.631         0              0              0
  42  Drawer          0.408          0.105          -1.631         0              0              0
  43  Drawer          0.408          0.292          -1.631         0              0              0
  44  Drawer          -0.385         0.292          -1.631         0              0              0
  45  Drawer          0.408          0.487          -1.631         0              0              0
  46  Bed             1.377          0.004          0.072          0              90             0
  47  Blinds          1.422          3.115          -2.339         0              0              0
  48  Blinds          -1.422         3.115          -2.339         0              0              0
  49  Safe            1.640          0.000          -2.040         0              355.244        0
  50  LaundryHamper   -1.564         0.001          -1.927         0              45             0
  51  NorthWall
  52  EastWall
  53  SouthWall
  54  WestWall

Plan:
STEP 1: Turn around, head to the dresser | STEP 2: Take the CD from the dresser | STEP 3: Turn around, head across the room, go to the right | STEP 4: Turn on the lamp in the corner | END