Task: Retrieve two discs and put them into the safe.

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          -0.25          0              270            0
   1  Bowl            -1.283         1.824          -1.256         0              0              0              34
   2  Bowl            -1.283         1.824          -0.603         0              0              0              33
   3  CD              -0.911         0.792          -0.814         0              0              0              47
   4  CD              0.504          0.673          -1.586         0              0              0              46
   5  CD              -1.309         1.822          -0.778         0              0              0              33
   6  Pencil          0.414          0.677          -1.684         0              0              0              46
   7  Pen             -1.259         0.798          -1.632         0              0              0              47
   8  CreditCard      0.190          0.082          1.286          0              0              0              40
   9  KeyChain        -1.052         0.793          -1.243         0              0              0              47
  10  Book            -0.964         0.794          -1.568         0              0              0              47
  11  AlarmClock      -1.259         0.794          -1.440         0              0              0              47
  12  AlarmClock      0.301          0.673          1.301          0              0              0              39
  13  Book            1.676          0.578          -1.615         0              0              0              48
  14  Pencil          0.227          0.684          1.167          0              0              0              39
  15  Laptop          1.098          0.574          -0.408         0              0              0              48
  16  Pen             -1.194         0.798          -0.385         0              0              0              47
  17  TennisRacket    -1.226         0.301          -0.069         15.000         180            180
  18  TeddyBear       1.629          0.557          -1.064         0              118.287        0              48
  19  Pillow          1.215          0.641          -1.663         0              0              0              26
  20  CellPhone       -1.230         1.461          -0.339         0              0              0              32
  21  KeyChain        -0.670         0.793          -1.632         0              0              0              47
  22  AlarmClock      -1.265         0.794          -0.385         0              0              0              47
  23  CreditCard      -0.450         0.836          -2.038         0              0              0              30
  24  CD              -0.523         0.792          -1.824         0              0              0              47
  25  Bowl            -1.283         1.460          -0.515         0              0              0              32
  26  Bed             1.242          -0.001         -0.881         0              180            0
  27  LightSwitch     0.010          1.315          1.499          0              180            0
  28  GarbageCan      0.840          0.007          1.337          0              180            2.168
  29  HousePlant      -0.083         0.828          -2.045         0              0              0
  30  Shelf           -0.469         0.828          -2.038         0              0              0
  31  Shelf           -1.286         1.451          -1.343         0              0              0
  32  Shelf           -1.286         1.451          -0.602         0              0              0
  33  Shelf           -1.286         1.814          -0.602         0              0              0
  34  Shelf           -1.286         1.814          -1.343         0              0              0
  35  Painting        1.111          1.628          -1.865         90             0              0
  36  DeskLamp        0.473          0.669          1.350          0              0              0
  37  Mirror          -1.383         1.565          0.512          0              270            0
  38  Window          -0.472         1.396          -2.252         90             0              0
  39  SideTable       0.304          -0.001         1.225          0              180            0
  40  Drawer          0.304          0.165          1.159          0              180            0
  41  Drawer          0.304          0.457          1.159          0              180            0
  42  Blinds          -0.453         2.156          -2.242         0              0              0
  43  Safe            1.623          5.960          0.448          0              270            0
  44  Chair           -0.683         0.000          -1.326         0              217.223        0
  45  Drawer          0.416          0.532          -1.553         0              0              0
  46  SideTable       0.413          0.000          -1.684         0              0              0
  47  Desk            -0.788         0.000          -1.032         0              90             0
  48
  49  NorthWall
  50  EastWall
  51  SouthWall
  52  WestWall

Plan:
STEP 1: Turn left, walk over to the desk | STEP 2: Pick up the disc from the desk | STEP 3: Turn right, walk to the safe on the floor | STEP 4: Put the disc into the safe | STEP 5: Move back to the left side of the desk | STEP 6: Pick up the disc from the desk | STEP 7: Move back to the safe with the disc | STEP 8: Put the disc into the safe | END