Task: carry a CD while turning 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           0.25           0.906          0.0            0              270            0
   1  Mug             -1.400         0.980          -1.200         0              0              0              41
   2  CD              -1.198         0.981          -1.443         0              0              0              41
   3  CD              -0.792         0.982          -1.362         0              0              0              41
   4  CellPhone       -0.875         2.053          0.575          0              0              0              35
   5  CellPhone       -0.890         0.896          2.332          0              0              0              35
   6  Pencil          -0.792         0.985          -1.606         0              0              0              41
   7  CreditCard      -1.151         0.421          -1.210         0              0              0              42
   8  CreditCard      -0.995         0.981          -1.200         0              0              0              41
   9  Book            -1.198         0.982          -1.606         0              0              0              41
  10  Book            -1.603         0.982          -1.606         0              0              0              41
  11  Pillow          -1.435         0.952          1.160          0              0              0              35
  12  AlarmClock      -0.995         0.982          -1.524         0              0              0              41
  13  AlarmClock      -1.001         1.537          -1.632         0              0              0              43
  14  Book            -1.400         0.983          -1.524         0              0              0              41
  15  Box             1.563          0.286          -1.069         0              347.500        0
  16  BasketBall      -1.657         0.126          -0.090         0              0              0
  17  Pen             -1.238         0.744          -1.300         0              0              0              40
  18  Pencil          -0.036         0.093          -1.569         0              270            0              32
  19  Laptop          -1.026         0.894          1.453          0              0              0              35
  20  Pillow          -1.280         0.917          0.478          0              0              0              35
  21  KeyChain        -1.001         1.536          -1.475         0              0              0              43
  22  Bowl            -1.572         1.537          -1.632         0              0              0              43
  23  CreditCard      -1.326         0.421          -1.300         0              0              0              42
  24  CellPhone       -1.198         0.983          -1.281         0              0              0              41
  25  CD              -1.326         0.738          -1.345         0              0              0              40
  26  AlarmClock      -1.382         1.537          -1.514         0              90             0              43
  27  Mug             -1.603         0.979          -1.443         0              90             0              41
  28  Statue          -0.621         1.543          -1.553         0              0              0              43
  29  Mirror          1.907          1.387          0.973          0              90             0
  30  LaundryHamper   -0.351         0.007          2.368          0              164.999        0
  31  DeskLamp        -0.343         1.545          -1.564         0              0              0
  32  GarbageCan      -0.035         0.007          -1.530         0              270            0
  33  Window          1.009          1.514          -2.089         90             0              0
  34  LightSwitch     0.397          1.197          2.729          0              180            0
  35  Bed             -1.299         1.937          1.441          0              0              0
  36  Blinds          1.064          2.382          -2.094         0              0              0
  37  Chair           0.884          0.012          -1.433         0              29.871         0
  38  Chair           -0.646         0.007          -1.206         0              195.000        0
  39  Drawer          -1.409         0.233          -1.303         0              0              0
  40  Drawer          -1.407         0.847          -1.302         0              0              0
  41  Desk            -0.993         0.006          -1.410         0              0              0
  42  Drawer          -1.408         0.558          -1.302         0              0              0
  43  Shelf           0.003          0.013          0.035          0              0              0
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: look down turn left and walk to face the desk | STEP 2: pick up the left CD of the desk | STEP 3: turn left and walk to the garbage bin next to the desk then look up | STEP 4: turn on the light next to the desk | END