Task: To pick up a CD and turn on the lamp.

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            0.901          -1.0           0              180            0
   1  Bowl            1.622          0.695          -1.744         0              0              0              34
   2  CD              -0.451         0.090          0.480          0              0              0              38
   3  CD              1.341          0.693          -1.857         0              18.354         0              34
   4  Pen             0.276          0.698          -2.106         0              99.090         0              34
   5  Pencil          1.489          0.697          -2.007         0              18.354         0              34
   6  CreditCard      1.434          0.693          -0.739         0              0              0              34
   7  CreditCard      -0.487         0.663          0.427          0              180            0              37
   8  KeyChain        -0.413         0.663          0.643          0              0              0              37
   9  KeyChain        1.439          0.473          -0.764         0              270            0              33
  10  Book            -2.221         0.629          0.351          0              0              0              25
  11  Book            -0.339         0.661          0.600          0              180            0              37
  12  Box             -0.015         0.239          -2.091         0              0              0
  13  Book            -2.046         0.629          -0.473         0              0              0              25
  14  BaseballBat     1.798          0.639          0.425          0              0              342.316
  15  Pen             -0.362         0.699          -1.980         0              90             0              34
  16  Pencil          -0.561         0.666          0.470          0              180            0              37
  17  KeyChain        1.439          0.473          -0.862         0              270            0              33
  18  Pillow          -1.346         0.703          -0.198         0              0              0              25
  19  CreditCard      1.456          0.473          -0.667         0              270            0              33
  20  CellPhone       1.341          0.693          -2.059         0              18.354         0              34
  21  Laptop          -1.871         0.628          -1.023         0              0              0              25
  22  CD              1.434          0.693          -1.576         0              0              0              34
  23  Bowl            0.477          0.694          -2.196         0              90             0              34
  24  AlarmClock      0.172          0.695          -2.306         0              99.090         0              34
  25  Bed             -1.696         0.004          -0.446         0              0              0
  26  Chair           0.956          -0.000         -1.747         0              110.225        0
  27  DeskLamp        -0.440         0.688          -2.276         0              0              0
  28  LightSwitch     0.625          1.338          0.734          0              180            0
  29  GarbageCan      1.660          -0.019         -0.389         0              345.008        0
  30  Mirror          1.300          1.422          0.765          0              0              0
  31  HousePlant      -0.867         0.000          -2.286         0              0              0
  32  Window          0.819          1.496          -2.553         90             180            0
  33  Shelf           1.616          0.561          -0.802         0              0              0
  34  Desk            0.617          -0.000         -1.511         0              0              0
  35  Blinds          0.796          2.217          -2.476         0              0              0
  36  Drawer          -0.558         0.456          0.462          0              180            0
  37  SideTable       -0.557         -0.000         0.529          0              180            0
  38  Drawer          -0.558         0.164          0.462          0              180            0
  39  Desktop         1.455          0.692          -1.886         358.180        309.674        0
  40  NorthWall
  41  EastWall
  42  SouthWall
  43  WestWall

Plan:
STEP 1: Look down at the desk in front of the chair.  | STEP 2: Pick up the CD that's closest to you on the desk.  | STEP 3: Turn around and walk to the edge of the desk on the left.  | STEP 4: Turn on the lamp that;s on the desk.  | END