Task: Carry a CD while turning on a 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            0.901          0.25           0              270            0
   1  CD              -0.561         0.369          0.526          0              0              0              36
   2  CD              -0.577         0.692          -1.896         0              90             0              34
   3  CellPhone       1.684          0.694          -0.739         0              0              0              34
   4  Pen             0.172          0.698          -2.306         0              99.090         0              34
   5  Pen             0.217          0.698          -2.025         0              99.090         0              34
   6  Pencil          -0.413         0.666          0.470          0              180            0              37
   7  Pencil          1.474          0.477          -0.911         0              270            0              33
   8  CreditCard      1.492          0.473          -0.959         0              270            0              33
   9  KeyChain        0.324          0.694          -2.258         0              99.090         0              34
  10  Book            -0.487         0.661          0.513          0              180            0              37
  11  Pillow          -1.871         0.703          -0.473         0              0              0              25
  12  Box             -0.015         0.239          -2.091         0              0              0
  13  Book            1.497          0.691          -1.744         0              0              0              34
  14  BaseballBat     1.798          0.639          0.425          0              0              342.316
  15  Pen             1.341          0.698          -2.059         0              18.354         0              34
  16  Pencil          0.109          0.697          -2.196         0              90             0              34
  17  KeyChain        1.758          0.694          -1.794         0              18.354         0              34
  18  Pillow          -1.346         0.703          -0.473         0              0              0              25
  19  CreditCard      1.527          0.473          -0.764         0              270            0              33
  20  CellPhone       -2.221         0.631          -0.198         0              0              0              25
  21  Laptop          1.641          0.686          -1.011         0              270            0              34
  22  CD              -0.339         0.662          0.643          0              180            0              37
  23  Bowl            1.029          0.694          -2.196         0              90             0              34
  24  AlarmClock      -0.716         0.657          0.570          0              180            0              37
  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: Move to face the right side of the TV stand where the CD is | STEP 2: Pick up the CD on top of the TV stand | STEP 3: Carry the CD over to the wooden desk where the desk lamp is | STEP 4: Turn on the lamp | END