Task: pick up the cd and turn on the lamp on the dresser

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.0            0.900          0.75           0              180            0
   1  Bowl            1.226          0.911          0.039          0              270            0              38
   2  CD              -1.269         0.696          -2.336         0              0              0              52
   3  CD              -1.269         0.699          -1.755         0              0              0              52
   4  CD              -1.644         1.521          -2.004         0              270            0              41
   5  Pen             1.224          0.376          -1.639         0              0              0              35
   6  CellPhone       1.172          0.371          -1.639         0              0              0              35
   7  CellPhone       1.226          0.912          -0.682         0              270            0              38
   8  Pencil          1.293          1.416          0.050          0              270            0              40
   9  CreditCard      1.327          0.383          -0.097         0              270            0              39
  10  CreditCard      1.120          0.237          -1.639         0              0              0              32
  11  AlarmClock      -1.332         0.693          -2.481         0              0              0              52
  12  Pillow          -1.203         0.713          -0.223         0              0              0              29
  13  Book            0.623          0.569          -2.471         0              350.999        0              36
  14  KeyChain        -1.510         1.523          -1.715         0              270            0              41
  15  BaseballBat     1.436          0.636          1.985          21.882         0              0
  16  BasketBall      1.270          0.12           -1.290         0              345.557        0
  17  Pencil          -1.519         0.701          -1.610         0              0              0              52
  18  CellPhone       1.219          0.505          -1.983         0              270            0              30
  19  CreditCard      1.368          0.504          -2.093         0              270            0              30
  20  Laptop          -1.203         0.609          0.337          0              0              0              29
  21  Pillow          -1.170         0.684          -0.990         0              0              0              29
  22  Boots           1.288          0.000          -0.961         0              177.912        0
  23  Pen             1.277          0.110          -1.998         0              0              0              28
  24  AlarmClock      -1.544         1.521          -1.571         0              270            0              41
  25  CD              -1.592         0.025          1.954          0              119.999        0              37
  26  Bowl            1.259          0.911          -0.537         0              270            0              38
  27  Drawer          0.980          0.271          -1.963         0              0              0
  28  Drawer          0.980          0.139          -1.963         0              0              0
  29  Bed             -1.209         0.016          -0.266         0              180            1.624
  30  Shelf           1.220          0.859          -1.802         0              270            0
  31  Drawer          0.980          0.404          -1.963         0              0              0
  32  Drawer          0.980          0.272          -1.639         0              0              0
  33  Mirror          0.740          1.491          2.099          0              0              0
  34  Drawer          0.980          0.139          -1.639         0              0              0
  35  Drawer          0.980          0.404          -1.639         0              0              0
  36  Chair           0.280          -0.001         -2.264         0              180            0
  37  GarbageCan      -1.542         0.013          1.919          2.249          116.925        355.175
  38  Shelf           1.259          0.903          -0.269         0              270            0
  39  Shelf           1.259          0.375          -0.263         0              270            0
  40  Shelf           1.259          1.402          -0.259         0              270            0
  41  Shelf           -1.577         1.513          -2.025         0              270            0
  42  LightSwitch     -0.755         1.176          2.099          0              180            0
  43  DeskLamp        -1.489         0.669          -2.419         0              0              0
  44  Window          0.243          0.963          -2.678         90             0              0
  45  Window          -0.361         0.963          -2.679         90             0              0
  46  Window          -0.962         0.963          -2.678         90             0              0
  47  Desk            0.445          0.001          -2.430         0              0              0
  48  Blinds          -0.349         2.186          -2.685         0              0              0
  49  Blinds          0.250          2.186          -2.685         0              0              0
  50  Blinds          -0.952         2.186          -2.685         0              0              0
  51  Drawer          -1.314         0.163          -2.051         0              90             0
  52  SideTable       -1.444         -0.001         -2.051         0              90             0
  53  Drawer          -1.314         0.455          -2.051         0              90             0
  54  NorthWall
  55  EastWall
  56  SouthWall
  57  WestWall

Plan:
STEP 1: turn left and walk towards the bed turn left and walk towards the door turn right and turn towards the dresser then turn left towards the door turn right and walk forward towards the dresser | STEP 2: pick up the cd on the left  | STEP 3: turn to your left then back to the dresser | STEP 4: turn on the lamp | END