Task: examine cd with 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           -0.25          0.900          0.0            0              90             0
   1  CD              -0.095         0.689          -1.794         0              0              0              45
   2  CellPhone       1.016          0.732          1.562          0              0              0              43
   3  CellPhone       1.373          1.142          1.558          0              270            0              40
   4  Pen             1.152          0.734          1.066          0              0              0              43
   5  Pen             1.310          1.144          1.246          0              270            0              40
   6  Pencil          1.356          0.732          1.066          0              0              0              43
   7  CreditCard      1.060          0.075          1.523          0              0              0              41
   8  CreditCard      1.084          0.728          1.066          0              0              0              43
   9  KeyChain        1.423          0.729          1.231          0              0              0              43
  10  KeyChain        1.135          0.553          1.666          0              0              0              43
  11  AlarmClock      1.084          0.729          1.396          0              0              0              43
  12  Book            1.145          0.721          1.806          0              0              0              42
  13  Box             -1.233         0.263          -1.435         0              312.675        0
  14  CellPhone       1.173          0.319          1.808          0              0              0              44
  15  BaseballBat     -1.717         0.708          -0.677         0              0              12.045
  16  Bowl            1.084          0.729          0.901          0              0              0              43
  17  BasketBall      -1.64          0.127          -1.652         0              0              0
  18  Laptop          1.080          0.776          -0.714         0              0              0              32
  19  CreditCard      1.405          1.138          1.402          0              270            0              40
  20  KeyChain        -0.352         0.099          -1.617         0              180            0              46
  21  AlarmClock      1.356          0.729          1.396          0              0              0              43
  22  Pencil          1.134          0.080          0.588          0              0              0              33
  23  Pillow          0.872          0.816          -1.513         0              0              0              32
  24  CD              1.356          0.728          1.562          0              0              0              43
  25  Pen             1.152          0.734          1.231          0              0              0              43
  26  Mug             1.405          1.136          0.933          0              0              0              40
  27  Poster          0.978          1.970          -1.868         90             0              0
  28  Mirror          -0.884         1.350          2.086          0              0              0
  29  Poster          1.483          1.978          -1.210         90             270            0
  30  Poster          1.483          1.503          -0.128         90             270            0
  31  Poster          1.483          2.138          -0.128         90             270            0
  32  Bed             0.955          0.002          -0.722         0              0              0
  33  GarbageCan      1.133          0.032          0.581          0              0              0
  34  DeskLamp        -0.396         0.664          -1.666         0              315            0
  35  LightSwitch     0.554          1.154          2.079          0              180            0
  36  Window          -0.174         1.006          -2.009         90             0              0
  37  LaundryHamper   -1.425         0.006          1.676          0              149.999        0
  38  Chair           1.127          -8.434         1.053          0              90             0
  39  Blinds          -0.145         1.679          -1.986         0              0              0
  40  Shelf           1.316          1.174          1.388          0              270            0
  41  Drawer          1.099          0.167          1.724          0              270            0
  42  Drawer          1.099          0.622          1.724          0              270            0
  43  Desk            1.189          0.002          1.384          0              270            0
  44  Drawer          1.099          0.408          1.724          0              270            0
  45  SideTable       -0.103         -0.000         -1.691         0              0              0
  46  Drawer          -0.104         0.157          -1.618         0              0              0
  47  Drawer          -0.104         0.456          -1.618         0              0              0
  48  NorthWall
  49  EastWall
  50  SouthWall
  51  WestWall

Plan:
STEP 1: turn right, walk to table | STEP 2: pick up the cd that is on the table | STEP 3: move to face the lamp, hold cd up | STEP 4: turn the lamp on | END