Task: Take the CD out of the trash, 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           1.25           0.900          -1.0           0              90             0
   1  Mug             2.705          0.796          -1.420         0              0              0              35
   2  CellPhone       0.227          0.570          -0.682         0              0              0              22
   3  CellPhone       -0.260         0.570          -0.682         0              0              0              22
   4  Pen             2.931          0.551          -1.486         0              0              0              34
   5  CreditCard      1.317          0.517          -1.793         0              0              0              37
   6  CreditCard      2.875          0.545          -1.419         0              0              0              34
   7  Laptop          0.227          0.568          -0.459         0              0              0              22
   8  Book            0.064          0.569          -0.905         0              0              0              22
   9  KeyChain        1.471          0.517          -1.551         0              0              0              37
  10  TissueBox       3.067          0.536          -1.421         0              0              0              34
  11  TeddyBear       -0.075         0.562          -0.274         353.177        297.143        5.348          22
  12  Pencil          2.931          0.551          -1.375         0              0              0              34
  13  CreditCard      1.409          0.283          -1.614         0              180            0              36
  14  TennisRacket    -0.921         0.344          0.390          13.911         273.938        195.992        Floor|+00.39|
  15  Laptop          2.362          0.791          -1.54          0              0              0              35
  16  AlarmClock      1.108          0.510          -1.673         0              345.199        0              37
  17  Pen             2.108          0.804          -1.420         0              0              0              35
  18  Pillow          0.299          0.643          -1.557         0              0              0              22
  19  CellPhone       1.909          0.798          -1.605         0              0              0              35
  20  CD              3.188          0.077          -0.268         0              270            0              24
  21  Mug             2.705          0.796          -1.543         0              0              0              35
  22  Bed             0.227          -0.003         -0.947         0              180            0
  23  Mirror          0.615          1.264          1.029          0              0              0
  24  GarbageCan      3.166          -0.011         -0.264         4.636          271.335        0
  25  DeskLamp        3.164          0.794          -1.664         0              315            0
  26  HousePlant      -0.833         0.000          0.843          0              0              0
  27  LightSwitch     2.010          1.126          1.029          0              180            0
  28  Window          1.794          1.677          -1.939         90             180            0
  29  Window          0.691          1.361          -1.938         90             180            0
  30  Dumbbell        2.628          0.001          -1.613         0              346.954        0
  31  Blinds          1.776          1.993          -1.858         0              0              0
  32  Blinds          0.670          1.993          -1.858         0              0              0
  33  Chair           2.255          0.004          -1.501         0              167.716        0
  34  Shelf           3.034          0.637          -1.580         0              0              0
  35  Desk            2.500          0.002          -1.596         0              0              0
  36  Drawer          1.240          0.354          -1.553         0              0              0
  37  SideTable       1.239          0.003          -1.551         0              0              0
  38  Drawer          1.240          0.126          -1.553         0              0              0
  39  NorthWall
  40  EastWall
  41  SouthWall
  42  WestWall

Plan:
STEP 1: Turn around, head to the green trash can | STEP 2: Take the CD out of the trash | STEP 3: Head right to the desk | STEP 4: Turn on the lamp | END