Task: Examine the CD under the light of the table lamp

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.900          0.75           0              270            0
   1  Bowl            -0.315         0.838          -2.072         0              0              0              31
   2  Bowl            -0.670         0.794          -1.504         0              0              0              48
   3  CD              -0.376         0.792          -1.760         0              0              0              48
   4  CD              -1.283         1.458          -0.339         0              0              0              33
   5  CD              0.305          0.373          1.262          0              0              0              42
   6  CellPhone       -1.230         1.824          -0.339         0              0              0              34
   7  CellPhone       1.098          0.578          -0.649         0              0              0              49
   8  Pencil          -1.052         0.796          -1.243         0              0              0              48
   9  Pen             0.305          0.686          1.167          0              0              0              40
  10  Pen             0.150          0.686          1.212          0              0              0              40
  11  Book            -0.981         0.794          -0.385         0              0              0              48
  12  AlarmClock      -0.585         0.838          -2.072         0              0              0              31
  13  Laptop          1.243          0.574          -0.166         0              0              0              49
  14  Book            -0.981         0.794          -1.671         0              0              0              48
  15  Pencil          -1.265         0.796          -1.028         0              0              0              48
  16  Laptop          1.387          0.574          -0.649         0              0              0              27
  17  Pen             0.368          0.679          -1.781         0              0              0              47
  18  TennisRacket    -1.226         0.301          -0.069         15.000         180            180
  19  TeddyBear       1.629          0.557          -1.064         0              118.287        0              49
  20  Pillow          1.215          0.641          -1.663         0              0              0              27
  21  CellPhone       -1.265         0.794          -0.600         0              0              0              48
  22  KeyChain        0.382          0.674          1.348          0              0              358.924        40
  23  AlarmClock      0.227          0.682          1.257          0              0              0              40
  24  CreditCard      -1.194         0.793          -0.385         0              0              0              48
  25  CD              0.459          0.673          -1.635         0              0              0              47
  26  Bowl            -1.283         1.824          -1.431         0              0              0              35
  27  Bed             1.242          -0.001         -0.881         0              180            0
  28  LightSwitch     0.010          1.315          1.499          0              180            0
  29  GarbageCan      0.840          0.007          1.337          0              180            2.168
  30  HousePlant      -0.083         0.828          -2.045         0              0              0
  31  Shelf           -0.469         0.828          -2.038         0              0              0
  32  Shelf           -1.286         1.451          -1.343         0              0              0
  33  Shelf           -1.286         1.451          -0.602         0              0              0
  34  Shelf           -1.286         1.814          -0.602         0              0              0
  35  Shelf           -1.286         1.814          -1.343         0              0              0
  36  Painting        1.111          1.628          -1.865         90             0              0
  37  DeskLamp        0.473          0.669          1.350          0              0              0
  38  Mirror          -1.383         1.565          0.512          0              270            0
  39  Window          -0.472         1.396          -2.252         90             0              0
  40  SideTable       0.304          -0.001         1.225          0              180            0
  41  Drawer          0.304          0.165          1.159          0              180            0
  42  Drawer          0.304          0.457          1.159          0              180            0
  43  Blinds          -0.453         2.156          -2.242         0              0              0
  44  Safe            1.623          5.960          0.448          0              270            0
  45  Chair           -0.683         0.000          -1.326         0              217.223        0
  46  Drawer          0.416          0.532          -1.553         0              0              0
  47  SideTable       0.413          0.000          -1.684         0              0              0
  48  Desk            -0.788         0.000          -1.032         0              90             0
  49
  50  NorthWall
  51  EastWall
  52  SouthWall
  53  WestWall

Plan:
STEP 1: Turn left and walk forward to the left side of the L-shaped desk | STEP 2: Pick up the CD from the desk | STEP 3: Turn right and walk across the room to the small dresser by the door | STEP 4: Turn on the table lamp on the dresser | END