Task: Turn on the lamp on the table, take the CD near the clock

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              270            0
   1  Bowl            -0.990         0.863          -2.373         0              0              0              52
   2  Pencil          -1.393         0.865          -2.373         0              0              0              52
   3  Book            0.816          0.774          1.496          0              0              0              23
   4  Pillow          -0.333         0.902          1.335          0              0              0              23
   5  Laptop          0.241          0.772          0.850          0              0              0              23
   6  Book            -1.493         0.087          -2.325         0              0              0              49
   7  Cloth           1.303          0.0            -0.696         0              303.212        0
   8  Cloth           1.273          0.0            -0.969         0              0              0
   9  CellPhone       -1.192         0.861          -2.311         0              0              0              52
  10  Pencil          1.411          0.827          -1.673         0              270            0              43
  11  Laptop          -0.046         0.772          1.819          0              0              0              23
  12  AlarmClock      0.459          0.813          -2.440         0              0              0              45
  13  CreditCard      0.146          0.812          -2.169         0              0              0              45
  14  KeyChain        -0.789         0.862          -2.373         0              0              0              52
  15  TennisRacket    -1.704         0.345          1.743          345.000        90             180
  16  RemoteControl   -1.594         0.863          -2.436         0              0              0              52
  17  Pillow          1.073          0.876          1.326          0              262.063        0              23
  18  CD              -0.061         0.812          -2.575         0              0              0              45
  19  CD              0.355          0.812          -2.575         0              0              0              45
  20  CD              0.355          0.812          -2.169         0              0              0              45
  21  Pen             0.146          0.818          -2.236         0              0              0              45
  22  Bowl            -0.674         0.855          -2.499         0              323.153        0              52
  23  Bed             0.270          0.001          1.331          0              90             0
  24  LaundryHamper   -1.329         0.001          1.829          0              180            0
  25  Television      -1.664         1.479          -0.912         0              90             0
  26  DeskLamp        0.049          0.815          -2.481         0              0              0
  27  LightSwitch     -1.799         1.213          0.680          0              90             0
  28  Painting        0.492          1.684          -2.629         90             0              0
  29  Poster          -1.799         1.690          -1.491         90             270            0
  30  GarbageCan      1.306          -0.001         -2.451         0              317.376        0
  31  Mirror          1.5            1.361          -0.542         0              90             0
  32  Window          1.721          1.365          -1.597         90             270            0
  33  Shelf           -1.605         0.435          -0.686         0              90             0
  34  Shelf           -1.613         1.154          -0.904         0              90             0
  35  ShelvingUnit    -1.611         0.005          -0.904         0              90             0
  36  Shelf           -1.605         0.719          -1.122         0              90             0
  37  Shelf           -1.605         0.435          -1.122         0              90             0
  38  Shelf           -1.605         1.006          -1.122         0              90             0
  39  Shelf           -1.605         0.148          -0.686         0              90             0
  40  Shelf           -1.605         0.149          -1.122         0              90             0
  41  Shelf           -1.605         1.006          -0.686         0              90             0
  42  Shelf           -1.605         0.719          -0.686         0              90             0
  43  SideTable       1.484          0.001          -1.481         0              270            0
  44  Blinds          1.699          2.096          -1.575         0              270            0
  45  Desk            0.244          0.004          -2.356         0              0              0
  46  Chair           -0.626         1.439          -2.199         0              171.006        0
  47  Chair           0.220          1.466          -2.214         0              188.269        0
  48  Shelf           -0.978         1.387          -2.479         0              0              0
  49  Drawer          -1.389         0.197          -2.261         0              0              0
  50  Drawer          -1.389         0.480          -2.261         0              0              0
  51  Drawer          -1.389         0.731          -2.261         0              0              0
  52  Desk            -0.973         1.162          -2.351         0              0              0
  53  NorthWall
  54  EastWall
  55  SouthWall
  56  WestWall

Plan:
STEP 1: Turn left, walk to the table | STEP 2: Turn on the lamp on the table | STEP 3: Take the CD near the clock | END