Task: examine a CD with 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           1.5            0.900          -0.25          0              270            0
   1  CD              -0.672         0.202          -0.365         0              0              0              23
   2  CD              -0.651         0.857          -0.663         0              0              0              30
   3  CellPhone       -2.155         0.387          0.683          0              0              0              42
   4  CreditCard      -0.511         0.083          -0.612         0              0              0              29
   5  Book            0.800          0.783          1.655          0              0              0              21
   6  AlarmClock      -1.179         1.724          0.489          0              0              0              34
   7  Book            1.206          0.783          1.366          0              0              0              21
   8  AlarmClock      -1.392         1.724          0.489          0              0              0              34
   9  BasketBall      1.976          0.120          0.211          0              331.076        0
  10  Pen             -0.511         0.654          -0.772         0              0              0              28
  11  Laptop          1.003          0.781          1.945          0              0              0              21
  12  BaseballBat     1.953          0.659          -1.81          346.388        0              0
  13  Bowl            -0.567         0.861          -1.529         0              0              0              30
  14  Pillow          1.118          0.867          2.464          0              0              0              21
  15  KeyChain        -2.083         0.039          2.682          0              180            0              45
  16  CreditCard      -2.155         0.386          0.797          0              0              0              42
  17  CellPhone       1.612          0.784          0.787          0              0              0              21
  18  CD              -2.135         0.039          2.469          0              180            0              45
  19  Pencil          -1.571         0.882          0.581          0              0              0              40
  20  Mug             -0.399         0.855          -1.010         0              0              0              30
  21  Bed             1.227          -0.002         1.664          0              0              0
  22  LightSwitch     2.151          1.233          -0.518         0              270            0
  23  GarbageCan      -0.747         0.014          -0.327         0              0              0
  24  Mirror          -1.358         1.427          2.855          0              0              0
  25  DeskLamp        -2.296         0.858          0.750          0              0              0
  26  Window          -0.421         1.534          -1.947         90             0              0
  27  Window          0.579          1.534          -1.947         90             0              0
  28  Drawer          -0.491         0.739          -0.855         0              90             0
  29  Drawer          -0.491         0.204          -0.855         0              90             0
  30  Desk            -0.639         0.009          -1.187         0              90             0
  31  Drawer          -0.491         0.487          -0.855         0              90             0
  32  Shelf           -1.965         1.514          0.416          0              0              0
  33  Shelf           -1.965         1.092          0.416          0              0              0
  34  Shelf           -1.312         1.888          0.416          0              0              0
  35  Shelf           -1.965         1.888          0.416          0              0              0
  36  Shelf           -1.312         1.092          0.416          0              0              0
  37  Shelf           -1.312         1.514          0.416          0              0              0
  38  Blinds          0.601          2.161          -1.916         0              0              0
  39  Blinds          -0.402         2.161          -1.916         0              0              0
  40  Desk            -1.726         0.001          0.575          0              0              0
  41  Drawer          -2.058         0.733          0.734          0              0              0
  42  Drawer          -2.058         0.482          0.734          0              0              0
  43  Drawer          -2.058         0.198          0.735          0              0              0
  44  Chair           -0.137         0.000          -1.587         0              315            0
  45  Safe            -2.183         -7.748         2.576          0              180            0
  46  Chair           -1.433         0.009          0.780          357.672        206.726        0
  47  LaundryHamper   0.163          0.003          2.635          0              86.390         0
  48  NorthWall
  49  EastWall
  50  SouthWall
  51  WestWall

Plan:
STEP 1: walk forward to the gray trash can | STEP 2: take the CD out of the gray trash can | STEP 3: turn right, walk across the room, turn left, walk to the wall, turn left to face the lamp on the desk | STEP 4: turn the lamp on | END