Task: Take the CD from the desk, turn on the lamp

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.75           0.900          0.0            0              180            0
   1  Mug             3.154          0.543          -1.442         0              0              0              32
   2  CellPhone       -0.097         0.570          -1.352         0              0              0              20
   3  Pencil          1.240          0.521          -1.591         0              0              0              35
   4  CreditCard      1.317          0.517          -1.793         0              0              0              35
   5  Pillow          0.227          0.674          -0.905         0              0              0              20
   6  Book            0.552          0.569          -0.459         0              0              0              20
   7  KeyChain        1.240          0.284          -1.593         0              270            0              34
   8  TissueBox       2.705          0.800          -1.358         0              0              0              33
   9  TeddyBear       -0.075         0.562          -0.274         353.177        297.143        5.348          20
  10  Pencil          2.824          0.796          -1.432         0              315            0              33
  11  CreditCard      2.931          0.545          -1.464         0              0              0              32
  12  TennisRacket    -0.921         0.344          0.390          13.911         273.938        195.992        Floor|+00.39|
  13  Laptop          2.362          0.791          -1.54          0              0              0              33
  14  AlarmClock      1.108          0.510          -1.673         0              345.198        0              35
  15  Pen             1.836          0.796          -1.667         0              0              0              33
  16  Pillow          0.299          0.643          -1.557         0              0              0              20
  17  CellPhone       1.352          0.283          -1.614         0              180            0              34
  18  CD              1.799          0.792          -1.424         0              0              0              33
  19  Mug             1.394          0.515          -1.591         0              90             0              35
  20  Bed             0.227          -0.003         -0.947         0              180            0
  21  Mirror          0.615          1.264          1.029          0              0              0
  22  GarbageCan      3.166          -0.011         -0.264         4.636          271.335        0
  23  DeskLamp        3.164          0.794          -1.664         0              315            0
  24  HousePlant      -0.833         0.000          0.843          0              0              0
  25  LightSwitch     2.010          1.126          1.029          0              180            0
  26  Window          1.794          1.677          -1.939         90             180            0
  27  Window          0.691          1.361          -1.938         90             180            0
  28  Dumbbell        2.628          0.001          -1.613         0              346.954        0
  29  Blinds          1.776          1.993          -1.858         0              0              0
  30  Blinds          0.670          1.993          -1.858         0              0              0
  31  Chair           2.255          0.004          -1.501         0              167.716        0
  32  Shelf           3.034          0.637          -1.580         0              0              0
  33  Desk            2.500          0.002          -1.596         0              0              0
  34  Drawer          1.240          0.354          -1.553         0              0              0
  35  SideTable       1.239          0.003          -1.551         0              0              0
  36  Drawer          1.240          0.126          -1.553         0              0              0
  37  NorthWall
  38  EastWall
  39  SouthWall
  40  WestWall

Plan:
STEP 1: Head to the large desk | STEP 2: Pick up the CD, turn around | STEP 3: Head to the green trash can, turn to the right | STEP 4: Turn on the lamp  | END