Task: Examine a CD using the light from 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          1.25           0              90             0
   1  CD              -0.095         0.687          -1.616         0              0              0              46
   2  CD              0.021          0.692          -1.794         0              0              0              46
   3  CD              1.084          0.728          1.562          0              0              0              44
   4  CellPhone       1.080          0.782          -0.440         0              0              0              33
   5  Pen             1.373          1.144          1.402          0              270            0              41
   6  Pen             1.173          0.321          1.666          0              0              0              45
   7  Pencil          1.152          0.732          1.231          0              0              0              44
   8  Pencil          1.405          1.142          1.246          0              270            0              41
   9  CreditCard      -0.180         0.388          -1.687         0              0              0              48
  10  KeyChain        1.022          0.076          1.737          0              90             0              42
  11  KeyChain        -0.330         0.694          -1.838         0              0              0              46
  12  Pillow          0.704          0.849          -0.440         0              0              0              33
  13  Book            1.145          0.721          1.806          0              0              0              43
  14  Box             -1.233         0.263          -1.435         0              312.675        0
  15  CellPhone       1.288          0.732          1.066          0              0              0              44
  16  BaseballBat     -1.717         0.708          -0.677         0              0              12.045
  17  Bowl            1.353          0.721          0.891          0              0              0              44
  18  BasketBall      -1.64          0.127          -1.652         0              0              0
  19  Laptop          1.205          0.776          -0.988         0              0              0              33
  20  CreditCard      1.373          1.138          1.558          0              270            0              41
  21  KeyChain        1.152          0.729          1.066          0              90             0              44
  22  AlarmClock      -0.213         0.686          -1.616         0              0              0              46
  23  Pencil          1.278          1.142          1.246          0              270            0              41
  24  Pillow          0.872          0.816          -1.513         0              0              0              33
  25  CD              1.070          0.077          0.564          0              0              0              34
  26  Pen             1.288          0.734          1.562          0              0              0              44
  27  Mug             1.356          0.727          1.396          0              0              0              44
  28  Poster          0.978          1.970          -1.868         90             0              0
  29  Mirror          -0.884         1.350          2.086          0              0              0
  30  Poster          1.483          1.978          -1.210         90             270            0
  31  Poster          1.483          1.503          -0.128         90             270            0
  32  Poster          1.483          2.138          -0.128         90             270            0
  33  Bed             0.955          0.002          -0.722         0              0              0
  34  GarbageCan      1.133          0.032          0.581          0              0              0
  35  DeskLamp        -0.396         0.664          -1.666         0              315            0
  36  LightSwitch     0.554          1.154          2.079          0              180            0
  37  Window          -0.174         1.006          -2.009         90             0              0
  38  LaundryHamper   -1.425         0.006          1.676          0              149.999        0
  39  Chair           1.127          -8.434         1.053          0              90             0
  40  Blinds          -0.145         1.679          -1.986         0              0              0
  41  Shelf           1.316          1.174          1.388          0              270            0
  42  Drawer          1.099          0.167          1.724          0              270            0
  43  Drawer          1.099          0.622          1.724          0              270            0
  44  Desk            1.189          0.002          1.384          0              270            0
  45  Drawer          1.099          0.408          1.724          0              270            0
  46  SideTable       -0.103         -0.000         -1.691         0              0              0
  47  Drawer          -0.104         0.157          -1.618         0              0              0
  48  Drawer          -0.104         0.456          -1.618         0              0              0
  49  NorthWall
  50  EastWall
  51  SouthWall
  52  WestWall

Plan:
STEP 1: Turn right and move to the nightstand to the right of the bed in front of the window. | STEP 2: Pick up the CD closest to the window and to the left of the alarm clock from the nightstand. | STEP 3: Turn right, move towards the basketball in the corner of the room, then turn left and face the front right corner of the nightstand. | STEP 4: Turn on the lamp to the right of the alarm clock on the nightstand. | END