Task: Look at a cd under 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           1.0            0.900          0.75           0              180            0
   1  Bowl            1.226          0.911          0.039          0              270            0              38
   2  CD              -1.269         0.696          -2.336         0              0              0              52
   3  CD              -1.269         0.699          -1.755         0              0              0              52
   4  CD              -1.644         1.521          -2.004         0              270            0              41
   5  Pen             1.224          0.376          -1.639         0              0              0              35
   6  CellPhone       1.172          0.371          -1.639         0              0              0              35
   7  CellPhone       1.226          0.912          -0.682         0              270            0              38
   8  Pencil          1.293          1.416          0.050          0              270            0              40
   9  CreditCard      1.327          0.383          -0.097         0              270            0              39
  10  CreditCard      1.120          0.237          -1.639         0              0              0              32
  11  AlarmClock      -1.332         0.693          -2.481         0              0              0              52
  12  Pillow          -1.203         0.713          -0.223         0              0              0              29
  13  Book            0.623          0.569          -2.471         0              350.999        0              36
  14  KeyChain        -1.510         1.523          -1.715         0              270            0              41
  15  BaseballBat     1.436          0.636          1.985          21.882         0              0
  16  BasketBall      1.270          0.12           -1.290         0              345.557        0
  17  Pencil          -1.519         0.701          -1.610         0              0              0              52
  18  CellPhone       1.219          0.505          -1.983         0              270            0              30
  19  CreditCard      1.368          0.504          -2.093         0              270            0              30
  20  Laptop          -1.203         0.609          0.337          0              0              0              29
  21  Pillow          -1.170         0.684          -0.990         0              0              0              29
  22  Boots           1.288          0.000          -0.961         0              177.912        0
  23  Pen             1.277          0.110          -1.998         0              0              0              28
  24  AlarmClock      -1.544         1.521          -1.571         0              270            0              41
  25  CD              -1.592         0.025          1.954          0              119.999        0              37
  26  Bowl            1.259          0.911          -0.537         0              270            0              38
  27  Drawer          0.980          0.271          -1.963         0              0              0
  28  Drawer          0.980          0.139          -1.963         0              0              0
  29  Bed             -1.209         0.016          -0.266         0              180            1.624
  30  Shelf           1.220          0.859          -1.802         0              270            0
  31  Drawer          0.980          0.404          -1.963         0              0              0
  32  Drawer          0.980          0.272          -1.639         0              0              0
  33  Mirror          0.740          1.491          2.099          0              0              0
  34  Drawer          0.980          0.139          -1.639         0              0              0
  35  Drawer          0.980          0.404          -1.639         0              0              0
  36  Chair           0.280          -0.001         -2.264         0              180            0
  37  GarbageCan      -1.542         0.013          1.919          2.249          116.925        355.175
  38  Shelf           1.259          0.903          -0.269         0              270            0
  39  Shelf           1.259          0.375          -0.263         0              270            0
  40  Shelf           1.259          1.402          -0.259         0              270            0
  41  Shelf           -1.577         1.513          -2.025         0              270            0
  42  LightSwitch     -0.755         1.176          2.099          0              180            0
  43  DeskLamp        -1.489         0.669          -2.419         0              0              0
  44  Window          0.243          0.963          -2.678         90             0              0
  45  Window          -0.361         0.963          -2.679         90             0              0
  46  Window          -0.962         0.963          -2.678         90             0              0
  47  Desk            0.445          0.001          -2.430         0              0              0
  48  Blinds          -0.349         2.186          -2.685         0              0              0
  49  Blinds          0.250          2.186          -2.685         0              0              0
  50  Blinds          -0.952         2.186          -2.685         0              0              0
  51  Drawer          -1.314         0.163          -2.051         0              90             0
  52  SideTable       -1.444         -0.001         -2.051         0              90             0
  53  Drawer          -1.314         0.455          -2.051         0              90             0
  54  NorthWall
  55  EastWall
  56  SouthWall
  57  WestWall

Plan:
STEP 1: Turn right and walk to the bed, then turn left and walk to the window, then turn right to face the dresser. | STEP 2: Pick up the cd from the left side of the dresser. | STEP 3: Turn left and look at the window then turn right and face the dresser. | STEP 4: Turn on the lamp on the corner of the dresser. | END