Task: View a CD by the light of 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           1.25           0.900          0.5            0              180            0
   1  CD              -1.031         0.093          -1.431         0              0              0              24
   2  CD              -0.252         0.900          -1.217         0              0              0              22
   3  CD              0.961          0.941          -1.91          0              0              0              28
   4  CellPhone       2.436          0.525          1.272          0              180            0              34
   5  Pencil          2.591          0.528          1.191          0              180            0              34
   6  Pencil          -0.948         0.899          -1.680         0              0              0              22
   7  CreditCard      -1.122         0.895          -1.495         0              0              0              22
   8  KeyChain        0.430          0.941          -1.854         0              0              0              28
   9  KeyChain        1.138          0.941          -1.882         0              0              0              28
  10  Pillow          1.506          0.840          -1.205         0              180            0              32
  11  Book            1.506          0.777          -1.503         0              180            0              32
  12  Pen             2.282          0.530          1.231          0              180            0              34
  13  AlarmClock      -1.122         0.897          -1.217         0              0              0              22
  14  TeddyBear       1.324          0.827          -0.763         56.834         332.692        298.236        39
  15  CellPhone       2.329          0.778          -1.503         0              180            0              32
  16  Pencil          2.436          0.526          1.151          0              180            0              34
  17  Pillow          2.329          0.840          -1.056         0              180            0              32
  18  Laptop          3.152          0.774          -1.205         0              180            0              32
  19  KeyChain        2.549          0.066          1.152          0              90             0              35
  20  CreditCard      -0.774         0.900          -1.773         0              0              0              22
  21  CD              -0.600         0.900          -1.680         0              0              0              22
  22  Desk            -0.503         0.006          -1.465         0              0              0
  23  Drawer          -0.945         0.493          -1.176         0              0              0
  24  Drawer          -0.946         0.212          -1.176         0              0              0
  25  Drawer          -0.944         0.739          -1.176         0              0              0
  26  DeskLamp        -0.124         0.899          -1.731         0              0              0
  27  LightSwitch     3.513          1.253          0.165          0              270            0
  28  Shelf           0.759          0.934          -1.909         0              0              0
  29  Mirror          2.407          1.294          1.401          0              0              0
  30  GarbageCan      3.347          -0.000         -0.027         0              270            0
  31  Window          0.717          1.603          -2.108         90             0              0
  32  Bed             2.301          0.005          -1.056         0              270            0
  33  Blinds          0.749          2.523          -2.022         0              0              0
  34  SideTable       2.436          0.002          1.143          0              180            0
  35  Drawer          2.437          0.122          1.154          0              180            0
  36  Drawer          2.437          0.350          1.153          0              180            0
  37  LaundryHamper   0.359          0.006          -1.505         0              280.399        358.305
  38  Chair           -0.308         0.009          -1.108         0              166.824        0
  39
  40  NorthWall
  41  EastWall
  42  SouthWall
  43  WestWall

Plan:
STEP 1: Go straight to the window. | STEP 2: Pick up the CD on the windowsill. | STEP 3: Turn to the right. | STEP 4: Turn on the desk lamp. | END