Task: Examine a CD by the light of a desk lamp

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.25           0.900          0.5            0              270            0
   1  Mug             2.875          0.543          -1.441         0              90             0              36
   2  CD              1.240          0.058          -1.614         0              180            0              40
   3  CD              3.162          0.077          -0.267         0              270            0              26
   4  CD              1.317          0.515          -1.631         0              0              0              39
   5  CellPhone       1.127          0.283          -1.614         0              180            0              38
   6  Pencil          1.239          0.515          -1.712         0              0              0              39
   7  KeyChain        2.108          0.799          -1.482         0              0              0              37
   8  KeyChain        3.103          0.799          -1.358         0              0              0              37
   9  Laptop          0.227          0.568          -0.459         0              0              0              24
  10  Book            0.390          0.569          -0.905         0              0              0              24
  11  KeyChain        1.409          0.284          -1.635         0              90             0              38
  12  TissueBox       2.904          0.800          -1.605         0              0              0              37
  13  TeddyBear       -0.075         0.562          -0.274         353.177        297.143        5.348          24
  14  Pencil          2.825          0.796          -1.432         0              315            0              37
  15  CreditCard      2.705          0.798          -1.728         0              0              0              37
  16  TennisRacket    -0.921         0.344          0.390          13.911         273.938        195.992        Floor|+00.39|
  17  Laptop          2.362          0.791          -1.54          0              0              0              37
  18  AlarmClock      1.106          0.511          -1.675         0              345.870        0              39
  19  Pen             3.043          0.551          -1.397         0              0              0              36
  20  Pillow          -0.097         0.674          -0.905         0              0              0              24
  21  CellPhone       0.390          0.570          -1.352         0              0              0              24
  22  CD              1.471          0.517          -1.631         0              0              0              39
  23  Mug             3.210          0.543          -1.464         0              0              0              36
  24  Bed             0.227          -0.003         -0.947         0              180            0
  25  Mirror          0.615          1.264          1.029          0              0              0
  26  GarbageCan      3.166          -0.011         -0.264         4.636          271.335        0
  27  DeskLamp        3.164          0.794          -1.664         0              315            0
  28  HousePlant      -0.833         0.000          0.843          0              0              0
  29  LightSwitch     2.010          1.126          1.029          0              180            0
  30  Window          1.794          1.677          -1.939         90             180            0
  31  Window          0.691          1.361          -1.938         90             180            0
  32  Dumbbell        2.628          0.001          -1.613         0              346.954        0
  33  Blinds          1.776          1.993          -1.858         0              0              0
  34  Blinds          0.670          1.993          -1.858         0              0              0
  35  Chair           2.255          0.004          -1.501         0              167.716        0
  36  Shelf           3.034          0.637          -1.580         0              0              0
  37  Desk            2.500          0.002          -1.596         0              0              0
  38  Drawer          1.240          0.354          -1.553         0              0              0
  39  SideTable       1.239          0.003          -1.551         0              0              0
  40  Drawer          1.240          0.126          -1.553         0              0              0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: turn to the left and take a few steps and turn to the left and go to the green waste basket | STEP 2: take out the CD from the green waste basket | STEP 3: turn to the right and take a few steps and turn to the left and go to the wall and turn to the right and go to the desk | STEP 4: turn on the lamp on the desk | END