Task: Grab a CD on the drawer cabinet and turn on the lamp on the drawer cabinet.

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           0.902          0.25           0              270            0
   1  CD              2.517          0.819          -0.134         0              270            0              57
   2  CD              -0.904         0.426          -1.752         0              0              0              39
   3  CellPhone       -0.402         0.730          1.232          0              0              0              27
   4  CellPhone       2.647          0.192          -0.215         0              0              0              54
   5  Pen             2.601          0.196          -0.303         0              0              0              54
   6  Pencil          2.507          0.678          0.618          0              0              0              57
   7  CreditCard      0.147          0.832          -2.414         0              0              0              46
   8  CreditCard      2.554          0.033          -0.128         0              0              0              59
   9  KeyChain        2.456          0.822          0.054          0              0              0              57
  10  KeyChain        -0.427         0.047          -1.807         0              90             0              40
  11  Book            2.641          0.819          0.054          0              270            0              57
  12  Book            0.176          0.730          1.232          0              0              0              27
  13  Box             0.252          0.227          -2.042         0              29.078         0
  14  Book            0.176          0.730          0.702          0              0              0              27
  15  Statue          2.703          0.827          -0.324         0              270            0              57
  16  CellPhone       -0.016         0.730          0.172          0              0              0              27
  17  Pillow          0.148          0.744          1.738          0              195.270        0              27
  18  Pillow          -0.441         0.738          1.64           0              348.951        0              27
  19  BasketBall      -1.231         0.121          -0.18          0              0              0
  20  CreditCard      2.601          0.354          -0.390         0              0              0              53
  21  KeyChain        2.414          0.520          -0.390         0              90             0              58
  22  Pencil          -0.615         0.968          -1.668         0              0              0              42
  23  AlarmClock      -0.315         0.708          -1.752         0              0              0              41
  24  Laptop          -0.535         0.781          0.402          0              59.999         0              27
  25  CD              2.517          0.819          0.433          0              270            0              57
  26  Pen             2.554          0.359          -0.303         0              180            0              53
  27  Bed             -0.209         -0.001         0.983          0              0              0
  28  LightSwitch     0.778          1.266          2.128          0              180            0
  29  GarbageCan      -1.357         -0.020         -0.928         0              0              0
  30  Painting        2.063          1.674          -1.865         83.723         0              0
  31  HousePlant      -0.808         0.953          -1.730         0              0              0
  32  Painting        1.871          0.393          -1.792         79.235         0              0
  33  Mirror          2.842          1.404          1.375          0              90             0
  34  DeskLamp        2.676          0.819          0.878          0              0              0
  35  Window          -1.700         1.444          -0.542         90             90             0
  36  Window          0.535          1.412          -2.618         90             0              0
  37  Shelf           -0.904         0.824          -1.754         0              0              0
  38  Shelf           -0.802         0.981          -1.756         0              0              0
  39  Shelf           -0.904         0.555          -1.754         0              0              0
  40  Shelf           -0.327         0.225          -1.754         0              0              0
  41  Shelf           -0.439         0.822          -1.754         0              0              0
  42  Shelf           -0.619         0.981          -1.754         0              0              0
  43  Shelf           -0.439         0.556          -1.754         0              0              0
  44  Shelf           -0.709         0.225          -1.754         0              0              0
  45  ShelvingUnit    -0.641         0.006          -1.745         0              0              0
  46  Stool           0.799          0.004          -2.105         0              0              0
  47  Blinds          0.542          2.135          -2.553         0              0              0
  48  Blinds          -1.645         2.145          -0.546         0              90             0
  49  Drawer          2.518          0.574          0.623          0              270            0
  50  Drawer          2.517          0.411          0.623          0              270            0
  51  Drawer          2.518          0.732          0.623          0              270            0
  52  Drawer          2.518          0.732          -0.119         0              270            0
  53  Drawer          2.517          0.411          -0.119         0              270            0
  54  Drawer          2.517          0.247          -0.119         0              270            0
  55  Drawer          2.517          0.090          0.623          0              270            0
  56  Drawer          2.517          0.247          0.623          0              270            0
  57  Dresser         2.555          0.003          0.252          0              270            0
  58  Drawer          2.518          0.574          -0.119         0              270            0
  59  Drawer          2.517          0.090          -0.119         0              270            0
  60  NorthWall
  61  EastWall
  62  SouthWall
  63  WestWall

Plan:
STEP 1: Turn right and walk to the drawer cabinet to your right and look down. | STEP 2: Grab the CD on the drawer cabinet. | STEP 3: Look up, turn left, walk straight, quickly turn right, walk to the mirror on the wall, when you reach the mirror on the wall, turn right to face the lamp and look down. | STEP 4: Turn on the lamp on the drawer cabinet. | END