Task: examine a CD by the light of the lamp on the desk

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.900          0.5            0              180            0
   1  Bowl            -0.483         0.861          -1.356         0              0              0              34
   2  Bowl            -1.744         0.882          0.581          0              0              0              44
   3  Mug             -2.091         0.876          0.581          0              0              0              44
   4  KeyChain        -1.339         1.350          0.448          0              270            0              41
   5  Book            -1.914         0.667          0.721          0              0              0              45
   6  Pillow          0.800          0.918          0.787          0              0              0              25
   7  Pillow          1.003          0.918          1.945          0              0              0              25
   8  Laptop          -0.735         0.855          -0.663         0              0              0              34
   9  AlarmClock      -1.339         1.724          0.489          0              0              0              38
  10  AlarmClock      -0.735         0.858          -1.010         0              0              0              34
  11  Book            0.598          0.783          1.076          0              0              0              25
  12  AlarmClock      -2.265         0.879          0.581          0              0              0              44
  13  BasketBall      1.976          0.120          0.211          0              331.076        0
  14  Pen             -1.939         1.729          0.407          0              0              0              39
  15  Laptop          1.409          0.781          1.366          0              0              0              25
  16  BaseballBat     1.953          0.659          -1.81          346.388        0              0
  17  Bowl            -0.819         0.861          -1.183         0              0              0              34
  18  Pillow          1.118          0.867          2.464          0              0              0              25
  19  KeyChain        -2.235         0.386          0.759          0              0              0              46
  20  CreditCard      -0.483         0.857          -0.836         0              0              0              34
  21  CellPhone       -2.235         0.669          0.683          0              0              0              45
  22  CD              -0.399         0.857          -0.663         0              0              0              34
  23  Pencil          -1.939         1.353          0.489          0              0              0              36
  24  Mug             -0.567         0.855          -1.183         0              0              0              34
  25  Bed             1.227          -0.002         1.664          0              0              0
  26  LightSwitch     2.151          1.233          -0.518         0              270            0
  27  GarbageCan      -0.747         0.014          -0.327         0              0              0
  28  Mirror          -1.358         1.427          2.855          0              0              0
  29  DeskLamp        -2.296         0.858          0.750          0              0              0
  30  Window          -0.421         1.534          -1.947         90             0              0
  31  Window          0.579          1.534          -1.947         90             0              0
  32  Drawer          -0.491         0.739          -0.855         0              90             0
  33  Drawer          -0.491         0.204          -0.855         0              90             0
  34  Desk            -0.639         0.009          -1.187         0              90             0
  35  Drawer          -0.491         0.487          -0.855         0              90             0
  36  Shelf           -1.965         1.514          0.416          0              0              0
  37  Shelf           -1.965         1.092          0.416          0              0              0
  38  Shelf           -1.312         1.888          0.416          0              0              0
  39  Shelf           -1.965         1.888          0.416          0              0              0
  40  Shelf           -1.312         1.092          0.416          0              0              0
  41  Shelf           -1.312         1.514          0.416          0              0              0
  42  Blinds          0.601          2.161          -1.916         0              0              0
  43  Blinds          -0.402         2.161          -1.916         0              0              0
  44  Desk            -1.726         0.001          0.575          0              0              0
  45  Drawer          -2.058         0.733          0.734          0              0              0
  46  Drawer          -2.058         0.482          0.734          0              0              0
  47  Drawer          -2.058         0.198          0.735          0              0              0
  48  Chair           -0.137         0.000          -1.587         0              315            0
  49  Safe            -2.183         -7.748         2.576          0              180            0
  50  Chair           -1.433         0.009          0.780          357.672        206.726        0
  51  LaundryHamper   0.163          0.003          2.635          0              86.390         0
  52  NorthWall
  53  EastWall
  54  SouthWall
  55  WestWall

Plan:
STEP 1: move forward to the desk and turn to face the desk | STEP 2: pick up the CD from the right corner of the desk | STEP 3: turn to the right and move toward the bed, turn to the left about half way moving towards the desk on the left side of the wall, turn to face the desk where the lamp is sitting | STEP 4: turn on the lamp that is on the desk | END