Task: Examine the CD in the light on the table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.900          -0.75          0              270            0
   1  Pen             -0.061         0.811          -2.507         0              0              0              43
   2  KeyChain        0.251          0.813          -2.575         0              0              0              43
   3  RemoteControl   0.459          0.813          -2.440         0              0              0              43
   4  Book            0.528          0.774          1.335          0              0              0              21
   5  Cloth           1.303          0.0            -0.696         0              303.212        0
   6  Cloth           1.273          0.0            -0.969         0              0              0
   7  CellPhone       0.528          0.774          0.850          0              0              0              21
   8  Pencil          -0.789         0.865          -2.498         0              0              0              50
   9  Laptop          1.103          0.772          1.819          0              0              0              21
  10  AlarmClock      -0.587         0.862          -2.436         0              0              0              50
  11  CreditCard      -1.580         0.652          -2.363         0              0              0              49
  12  KeyChain        -1.192         0.862          -2.373         0              0              0              50
  13  TennisRacket    -1.704         0.345          1.743          345.000        90             180
  14  RemoteControl   -1.393         0.863          -2.373         0              0              0              50
  15  Pillow          -0.046         0.902          1.496          0              0              0              21
  16  CD              -1.232         0.371          -2.287         0              0              0              48
  17  CD              -1.192         0.861          -2.498         0              0              0              50
  18  CD              -1.594         0.861          -2.561         0              0              0              50
  19  Pen             -1.319         0.377          -2.363         0              0              0              48
  20  Bowl            -1.594         0.863          -2.311         0              0              0              50
  21  Bed             0.270          0.001          1.331          0              90             0
  22  LaundryHamper   -1.329         0.001          1.829          0              180            0
  23  Television      -1.664         1.479          -0.912         0              90             0
  24  DeskLamp        0.049          0.815          -2.481         0              0              0
  25  LightSwitch     -1.799         1.213          0.680          0              90             0
  26  Painting        0.492          1.684          -2.629         90             0              0
  27  Poster          -1.799         1.690          -1.491         90             270            0
  28  GarbageCan      1.306          -0.001         -2.451         0              317.376        0
  29  Mirror          1.5            1.361          -0.542         0              90             0
  30  Window          1.721          1.365          -1.597         90             270            0
  31  Shelf           -1.605         0.435          -0.686         0              90             0
  32  Shelf           -1.613         1.154          -0.904         0              90             0
  33  ShelvingUnit    -1.611         0.005          -0.904         0              90             0
  34  Shelf           -1.605         0.719          -1.122         0              90             0
  35  Shelf           -1.605         0.435          -1.122         0              90             0
  36  Shelf           -1.605         1.006          -1.122         0              90             0
  37  Shelf           -1.605         0.148          -0.686         0              90             0
  38  Shelf           -1.605         0.149          -1.122         0              90             0
  39  Shelf           -1.605         1.006          -0.686         0              90             0
  40  Shelf           -1.605         0.719          -0.686         0              90             0
  41  SideTable       1.484          0.001          -1.481         0              270            0
  42  Blinds          1.699          2.096          -1.575         0              270            0
  43  Desk            0.244          0.004          -2.356         0              0              0
  44  Chair           -0.626         1.439          -2.199         0              171.006        0
  45  Chair           0.220          1.466          -2.214         0              188.269        0
  46  Shelf           -0.978         1.387          -2.479         0              0              0
  47  Drawer          -1.389         0.197          -2.261         0              0              0
  48  Drawer          -1.389         0.480          -2.261         0              0              0
  49  Drawer          -1.389         0.731          -2.261         0              0              0
  50  Desk            -0.973         1.162          -2.351         0              0              0
  51  NorthWall
  52  EastWall
  53  SouthWall
  54  WestWall

Plan:
STEP 1: Move to the desk. | STEP 2: Pick up the CD on the middle of the desk.  | STEP 3: Bring the CD to the lamp on the table. | STEP 4: Turn on the lamp on the table. | END