Task: Carry a CD while turning on a 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          0.901          0.25           0              0              0
   1  CD              0.647          0.684          -1.622         0              0              0              30
   2  CD              1.318          0.711          0.215          0              270            0              41
   3  Pen             -1.815         0.679          1.062          0              0              0              38
   4  Pencil          1.687          0.053          1.706          0              270            0              25
   5  CreditCard      -1.628         0.287          1.515          0              270            0              36
   6  CreditCard      1.408          0.711          0.602          0              270            0              41
   7  Laptop          -1.301         0.538          -0.830         0              0              0              22
   8  Book            -1.695         0.640          0.448          0              180            0              38
   9  AlarmClock      -1.875         1.071          1.067          0              270            0              37
  10  BasketBall      1.510          0.120          -0.105         0              0              0
  11  TeddyBear       -1.7           0.475          -0.331         0              225            0              22
  12  TennisRacket    1.551          0.000          0.654          270            336.082        0
  13  Pen             -1.683         0.679          1.062          0              0              0              38
  14  Pencil          -1.695         0.644          0.213          0              180            0              38
  15  KeyChain        -1.875         1.071          1.634          0              270            0              37
  16  CreditCard      1.318          0.711          0.602          0              270            0              41
  17  Laptop          -0.583         0.538          -0.408         0              0              0              22
  18  CellPhone       1.318          0.712          0.409          0              270            0              41
  19  Pillow          -1.757         0.569          -0.768         0              285.000        0              22
  20  CD              -1.734         0.065          1.648          0              270            0              35
  21  Curtains        1.865          2.039          -0.495         0              0              0
  22  Bed             -1.037         0.009          -0.690         0              270            0
  23  Mirror          0.549          1.494          1.880          0              0              0
  24  Curtains        0.486          2.035          -1.853         0              90             0
  25  GarbageCan      1.683          -0.018         1.670          0              270            0
  26  LightSwitch     -0.119         1.317          1.853          0              180            0
  27  DeskLamp        -1.845         1.057          0.756          0              0              0
  28  Window          1.932          1.409          -0.507         90             270            0
  29  Window          0.481          1.411          -1.932         90             0              0
  30  SideTable       0.626          0.0            -1.705         0              0              0
  31  Footstool       0.176          0.006          -0.358         0              0              0
  32  Dumbbell        1.596          0.715          0.772          0              0              0
  33  Dumbbell        1.776          0.717          0.772          0              0              0
  34  Shelf           -1.700         0.573          1.540          0              90             0
  35  Shelf           -1.700         0.156          1.540          0              90             0
  36  Shelf           -1.700         0.377          1.540          0              90             0
  37  Shelf           -1.839         1.084          1.235          0              90             0
  38  Desk            -1.722         0.003          0.920          0              90             0
  39  Footstool       0.175          0.004          -0.652         0              0              0
  40  GarbageBag      1.624          0.319          -1.609         270            90             83.418
  41  Desk            1.519          1.823          0.385          0              270            0
  42  Chair           -1.459         0.003          0.929          0              292.527        0
  43  NorthWall
  44  EastWall
  45  WestWall

Plan:
STEP 1: Move across the room to face the white desk top next to the window | STEP 2: Pick up the CD on top of the white desk | STEP 3: Carry the CD over to the lamp on top of the wood desk shelf | STEP 4: Turn on the lamp | END