Task: Turn on a lamp while holding a CD

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            0.906          -0.75          0              0              0
   1  Mug             -0.995         0.980          -1.524         0              0              0              40
   2  Statue          -1.603         0.989          -1.362         0              0              0              40
   3  KeyChain        -1.400         0.982          -1.362         0              0              0              40
   4  KeyChain        -0.621         1.536          -1.514         0              0              0              42
   5  CellPhone       -0.387         0.983          -1.281         0              0              0              40
   6  Pen             -1.198         0.988          -1.443         0              0              0              40
   7  Pencil          -0.590         0.984          -1.687         0              0              0              40
   8  Pencil          -0.792         0.985          -1.687         0              0              0              40
   9  CreditCard      -1.674         0.739          -1.255         0              0              0              39
  10  CreditCard      -1.382         1.536          -1.671         0              0              0              42
  11  Book            -1.026         0.897          2.039          0              0              0              34
  12  Book            -1.400         0.982          -1.606         0              0              0              40
  13  Book            -0.940         2.053          0.575          0              0              0              34
  14  Box             1.563          0.286          -1.069         0              347.500        0
  15  BasketBall      -1.657         0.126          -0.090         0              0              0
  16  Pen             -1.413         0.103          -1.300         0              0              0              38
  17  Pencil          -0.036         0.093          -1.492         0              270            0              31
  18  Laptop          -1.299         0.894          1.160          0              0              0              34
  19  Pillow          -1.280         0.917          0.478          0              0              0              34
  20  KeyChain        -0.621         1.536          -1.632         0              0              0              42
  21  Bowl            -0.995         0.982          -1.281         0              0              0              40
  22  CreditCard      -1.382         1.536          -1.553         0              0              0              42
  23  CellPhone       -0.811         1.537          -1.632         0              0              0              42
  24  CD              -1.198         0.982          -1.281         0              0              0              40
  25  AlarmClock      -0.590         0.982          -1.524         0              0              0              40
  26  Mug             -1.198         0.979          -1.524         0              0              0              40
  27  Statue          -1.603         0.989          -1.524         0              0              0              40
  28  Mirror          1.907          1.387          0.973          0              90             0
  29  LaundryHamper   -0.351         0.007          2.368          0              164.999        0
  30  DeskLamp        -0.343         1.545          -1.564         0              0              0
  31  GarbageCan      -0.035         0.007          -1.530         0              270            0
  32  Window          1.009          1.514          -2.089         90             0              0
  33  LightSwitch     0.397          1.197          2.729          0              180            0
  34  Bed             -1.299         1.937          1.441          0              0              0
  35  Blinds          1.064          2.382          -2.094         0              0              0
  36  Chair           0.884          0.012          -1.433         0              29.871         0
  37  Chair           -0.646         0.007          -1.206         0              195.000        0
  38  Drawer          -1.409         0.233          -1.303         0              0              0
  39  Drawer          -1.407         0.847          -1.302         0              0              0
  40  Desk            -0.993         0.006          -1.410         0              0              0
  41  Drawer          -1.408         0.558          -1.302         0              0              0
  42  Shelf           0.003          0.013          0.035          0              0              0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: Move to the wooden desk behind the bed | STEP 2: Pick up the CD on top of the desk | STEP 3: Carry the CD to the desk on the right | STEP 4: Turn on the lamp on the top shelf of the desk | END