Task: Pick up a CD with the light of 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           1.5            0.902          -1.0           0              180            0
   1  Statue          2.579          0.825          -0.324         0              270            0              53
   2  Statue          0.147          0.838          -2.414         0              0              0              37
   3  CD              2.517          0.819          0.812          0              270            0              53
   4  CD              -0.812         0.708          -1.724         0              0              0              33
   5  CD              2.554          0.520          0.356          0              0              0              45
   6  CellPhone       -0.209         0.730          0.702          0              0              0              23
   7  KeyChain        -0.904         0.427          -1.752         0              0              0              35
   8  Book            2.554          0.191          0.793          0              0              0              52
   9  Box             0.252          0.227          -2.042         0              29.078         0
  10  Book            2.554          0.191          0.444          0              0              0              52
  11  Statue          2.703          0.825          0.433          0              270            0              53
  12  CellPhone       2.601          0.519          -0.041         0              0              0              54
  13  Pillow          0.148          0.744          1.738          0              195.270        0              23
  14  Pillow          -0.441         0.738          1.64           0              348.951        0              23
  15  BasketBall      -1.231         0.121          -0.18          0              0              0
  16  CreditCard      2.507          0.520          -0.128         0              0              0              54
  17  KeyChain        -0.597         0.047          -1.696         0              0              0              40
  18  Pencil          -1.318         0.055          -0.942         0              0              0              25
  19  AlarmClock      2.579          0.821          -0.134         0              270            0              53
  20  Laptop          -0.535         0.781          0.402          0              59.999         0              23
  21  CD              -0.503         0.427          -1.752         0              0              0              39
  22  Pen             0.688          0.838          -2.353         0              0              0              42
  23  Bed             -0.209         -0.001         0.983          0              0              0
  24  LightSwitch     0.778          1.266          2.128          0              180            0
  25  GarbageCan      -1.357         -0.020         -0.928         0              0              0
  26  Painting        2.063          1.674          -1.865         83.723         0              0
  27  HousePlant      -0.808         0.953          -1.730         0              0              0
  28  Painting        1.871          0.393          -1.792         79.235         0              0
  29  Mirror          2.842          1.404          1.375          0              90             0
  30  DeskLamp        2.676          0.819          0.878          0              0              0
  31  Window          -1.700         1.444          -0.542         90             90             0
  32  Window          0.535          1.412          -2.618         90             0              0
  33  Shelf           -0.904         0.824          -1.754         0              0              0
  34  Shelf           -0.802         0.981          -1.756         0              0              0
  35  Shelf           -0.904         0.555          -1.754         0              0              0
  36  Shelf           -0.327         0.225          -1.754         0              0              0
  37  Shelf           -0.439         0.822          -1.754         0              0              0
  38  Shelf           -0.619         0.981          -1.754         0              0              0
  39  Shelf           -0.439         0.556          -1.754         0              0              0
  40  Shelf           -0.709         0.225          -1.754         0              0              0
  41  ShelvingUnit    -0.641         0.006          -1.745         0              0              0
  42  Stool           0.799          0.004          -2.105         0              0              0
  43  Blinds          0.542          2.135          -2.553         0              0              0
  44  Blinds          -1.645         2.145          -0.546         0              90             0
  45  Drawer          2.518          0.574          0.623          0              270            0
  46  Drawer          2.517          0.411          0.623          0              270            0
  47  Drawer          2.518          0.732          0.623          0              270            0
  48  Drawer          2.518          0.732          -0.119         0              270            0
  49  Drawer          2.517          0.411          -0.119         0              270            0
  50  Drawer          2.517          0.247          -0.119         0              270            0
  51  Drawer          2.517          0.090          0.623          0              270            0
  52  Drawer          2.517          0.247          0.623          0              270            0
  53  Dresser         2.555          0.003          0.252          0              270            0
  54  Drawer          2.518          0.574          -0.119         0              270            0
  55  Drawer          2.517          0.090          -0.119         0              270            0
  56  NorthWall
  57  EastWall
  58  SouthWall
  59  WestWall

Plan:
STEP 1: Turn around and walk ahead to the door, then turn right and face the mirror. | STEP 2: Turn right and turn on the lamp. | STEP 3: Pick up the CD on the counter. | END