Task: Carry a CD while turning on a desk lamp

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.900          -0.75          0              0              0
   1  CD              2.225          0.049          2.634          0              0              0              27
   2  CD              -0.402         0.088          -0.653         0              0              0              35
   3  Pen             2.245          0.464          -0.190         0              90             0              29
   4  Pen             2.190          0.848          -0.090         0              0              0              31
   5  Pencil          -0.509         0.928          -0.391         0              0              0              36
   6  Pencil          2.095          0.846          -0.746         0              0              0              31
   7  CreditCard      -0.245         0.376          -0.653         0              0              0              34
   8  CreditCard      2.220          0.461          -0.679         0              0              0              29
   9  Box             2.15           0.14           0.494          0              12.243         0
  10  Book            -0.320         0.926          -0.391         0              0              0              36
  11  BasketBall      -0.235         0.120          0.166          0              0              0
  12  Pen             -0.351         0.673          -0.284         0              0              0              37
  13  Pillow          -0.025         0.561          2.458          0              0              0              21
  14  Pencil          2.197          0.053          2.551          0              0              0              27
  15  CellPhone       -0.349         0.378          -0.193         0              0              0              35
  16  KeyChain        -0.509         0.925          -0.604         0              0              0              36
  17  CreditCard      -0.402         0.376          -0.561         0              0              0              34
  18  AlarmClock      -0.225         0.925          -1.459         0              0              0              36
  19  CD              -0.349         0.088          -0.193         0              0              0              35
  20  Laptop          0.333          0.548          1.263          0              0              0              21
  21  Bed             0.009          -0.004         1.577          0              0              0
  22  DeskLamp        -0.669         0.923          -0.062         0              90             0
  23  Painting        -0.787         1.809          -0.215         90             270            0
  24  Painting        -0.787         1.809          1.023          90             270            0
  25  Mirror          2.118          1.277          2.749          0              0              0
  26  LightSwitch     0.726          1.200          2.75           0              180            0
  27  GarbageCan      2.257          -0.008         2.603          353.970        0              0
  28  Window          0.665          1.356          -1.911         90             0              0
  29  Drawer          2.119          0.576          -0.491         4.458          270            0
  30  Drawer          2.147          0.213          -0.491         4.458          270            0
  31  SideTable       2.226          0.013          -0.492         4.458          270            0
  32  Chair           0.170          0.011          -1.214         0              261.719        0
  33  Blinds          0.695          1.983          -1.867         0              0              0
  34  Drawer          -0.079         0.513          -0.394         0              90             0
  35  Drawer          -0.079         0.226          -0.394         0              90             0
  36  Desk            -0.391         0.001          -0.811         0              90             0
  37  Drawer          -0.079         0.762          -0.394         0              90             0
  38  NorthWall
  39  EastWall
  40  SouthWall
  41  WestWall

Plan:
STEP 1: Move to the trash bin against the wall underneath the mirror | STEP 2: Pick up the CD that is sitting in the trash bin | STEP 3: Carry the CD to the right side of the wood desk where the desk lamp is sitting | STEP 4: Turn on the desk lamp | END