Task: Move 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           -0.75          0.901          -1.0           0              0              0
   1  CD              1.684          0.693          -1.576         0              0              0              35
   2  CD              -0.451         0.369          0.480          0              0              0              37
   3  CellPhone       0.293          0.693          -2.266         0              90             0              35
   4  CellPhone       0.146          0.694          -2.014         0              99.090         0              35
   5  Pen             -0.634         0.668          0.470          0              180            0              38
   6  Pencil          1.439          0.477          -0.862         0              270            0              34
   7  CreditCard      -0.434         0.692          -1.980         0              90             0              35
   8  KeyChain        -0.670         0.091          0.526          0              0              0              39
   9  Book            -1.871         0.629          -0.473         0              0              0              26
  10  Pillow          -2.046         0.703          -0.198         0              0              0              26
  11  Pillow          -1.696         0.703          -0.748         0              0              0              26
  12  AlarmClock      -0.487         0.664          0.513          0              180            0              38
  13  Box             -0.015         0.239          -2.091         0              0              0
  14  Book            -0.560         0.661          0.643          0              90             0              38
  15  BaseballBat     1.798          0.639          0.425          0              0              342.316
  16  Pen             1.429          0.698          -2.189         0              18.354         0              35
  17  Pencil          1.490          0.696          -1.806         0              18.354         0              35
  18  KeyChain        -0.451         0.091          0.526          0              0              0              39
  19  Pillow          -1.346         0.703          -1.297         0              0              0              26
  20  CreditCard      -0.291         0.692          -2.316         0              90             0              35
  21  CellPhone       -0.782         0.664          0.556          0              180            0              38
  22  Laptop          1.641          0.686          -1.011         0              270            0              35
  23  CD              1.519          0.692          -1.916         0              18.354         0              35
  24  Bowl            1.029          0.695          -2.266         0              90             0              35
  25  AlarmClock      1.492          0.475          -0.764         0              270            0              34
  26  Bed             -1.696         0.004          -0.446         0              0              0
  27  Chair           0.956          -0.000         -1.747         0              110.225        0
  28  DeskLamp        -0.440         0.688          -2.276         0              0              0
  29  LightSwitch     0.625          1.338          0.734          0              180            0
  30  GarbageCan      1.660          -0.019         -0.389         0              345.008        0
  31  Mirror          1.300          1.422          0.765          0              0              0
  32  HousePlant      -0.867         0.000          -2.286         0              0              0
  33  Window          0.819          1.496          -2.553         90             180            0
  34  Shelf           1.616          0.561          -0.802         0              0              0
  35  Desk            0.617          -0.000         -1.511         0              0              0
  36  Blinds          0.796          2.217          -2.476         0              0              0
  37  Drawer          -0.558         0.456          0.462          0              180            0
  38  SideTable       -0.557         -0.000         0.529          0              180            0
  39  Drawer          -0.558         0.164          0.462          0              180            0
  40  Desktop         1.455          0.692          -1.886         358.180        309.674        0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: Move to the night stand to the right of the head board of the bed | STEP 2: Open the top drawer of the night stand, remove the CD, shut the drawer | STEP 3: Carry the CD over to the right side of the wood desk top where the lamp is | STEP 4: Turn on the lamp | END