Task: Look at a CD under a lamp's light.

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          1.5            0              180            0
   1  Mug             -1.834         1.721          0.407          0              0              0              41
   2  Mug             -0.399         0.855          -0.836         0              0              0              37
   3  CD              -1.918         0.878          0.581          0              0              0              47
   4  CellPhone       -0.511         0.084          -0.772         0              0              0              36
   5  Pen             -1.914         0.392          0.683          0              0              0              49
   6  Pencil          -1.286         1.727          0.530          0              0              0              41
   7  CreditCard      -2.315         0.668          0.645          0              0              0              48
   8  CreditCard      -1.233         1.350          0.366          0              0              0              44
   9  Book            0.800          0.783          1.076          0              0              0              28
  10  Pillow          1.612          0.918          1.076          0              0              0              28
  11  Pillow          1.003          0.918          0.787          0              0              0              28
  12  Laptop          0.800          0.781          1.655          0              0              0              28
  13  AlarmClock      -0.735         0.858          -0.663         0              0              0              37
  14  Book            1.612          0.783          2.524          0              0              0              28
  15  AlarmClock      -1.179         1.724          0.489          0              0              0              41
  16  BasketBall      1.976          0.120          0.211          0              331.076        0
  17  Pen             -0.549         0.370          -0.933         0              0              0              38
  18  Laptop          1.612          0.781          2.234          0              0              0              28
  19  BaseballBat     1.953          0.659          -1.81          346.388        0              0
  20  Bowl            -0.651         0.861          -1.183         0              0              0              37
  21  Pillow          1.118          0.867          2.464          0              0              0              28
  22  KeyChain        -0.624         0.083          -0.612         0              180            0              36
  23  CreditCard      -1.571         0.878          0.749          0              0              0              47
  24  CellPhone       -0.473         0.365          -0.772         0              0              0              36
  25  CD              -2.292         0.039          2.682          0              180            0              52
  26  Pencil          -2.074         0.390          0.759          0              0              0              49
  27  Mug             -0.735         0.855          -0.836         0              0              0              37
  28  Bed             1.227          -0.002         1.664          0              0              0
  29  LightSwitch     2.151          1.233          -0.518         0              270            0
  30  GarbageCan      -0.747         0.014          -0.327         0              0              0
  31  Mirror          -1.358         1.427          2.855          0              0              0
  32  DeskLamp        -2.296         0.858          0.750          0              0              0
  33  Window          -0.421         1.534          -1.947         90             0              0
  34  Window          0.579          1.534          -1.947         90             0              0
  35  Drawer          -0.491         0.739          -0.855         0              90             0
  36  Drawer          -0.491         0.204          -0.855         0              90             0
  37  Desk            -0.639         0.009          -1.187         0              90             0
  38  Drawer          -0.491         0.487          -0.855         0              90             0
  39  Shelf           -1.965         1.514          0.416          0              0              0
  40  Shelf           -1.965         1.092          0.416          0              0              0
  41  Shelf           -1.312         1.888          0.416          0              0              0
  42  Shelf           -1.965         1.888          0.416          0              0              0
  43  Shelf           -1.312         1.092          0.416          0              0              0
  44  Shelf           -1.312         1.514          0.416          0              0              0
  45  Blinds          0.601          2.161          -1.916         0              0              0
  46  Blinds          -0.402         2.161          -1.916         0              0              0
  47  Desk            -1.726         0.001          0.575          0              0              0
  48  Drawer          -2.058         0.733          0.734          0              0              0
  49  Drawer          -2.058         0.482          0.734          0              0              0
  50  Drawer          -2.058         0.198          0.735          0              0              0
  51  Chair           -0.137         0.000          -1.587         0              315            0
  52  Safe            -2.183         -7.748         2.576          0              180            0
  53  Chair           -1.433         0.009          0.780          357.672        206.726        0
  54  LaundryHamper   0.163          0.003          2.635          0              86.390         0
  55  NorthWall
  56  EastWall
  57  SouthWall
  58  WestWall

Plan:
STEP 1: Walk to the right side of the desk. | STEP 2: Grab the CD from the desk. | STEP 3: Locate the lamp on the desk. | STEP 4: Turn on the lamp. | END