Task: Move a CD from the dresser to the shelf.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.949          0.5            0              270            0
   1  CD              2.235          0.984          -2.212         0              270            0              37
   2  CellPhone       1.723          0.610          -0.172         0              0              0              22
   3  CellPhone       0.116          0.784          3.143          0              180            0              44
   4  Pen             -0.812         0.591          0.529          0              0              0              52
   5  Pen             3.377          0.729          1.397          0              180            0              62
   6  CreditCard      -0.077         0.475          3.283          0              0              0              43
   7  Laptop          2.381          0.607          0.790          0              0              0              22
   8  Laptop          2.234          0.986          -1.862         0              270            0              37
   9  Book            2.431          0.180          -1.896         0              270            0              39
  10  KeyChain        -0.812         0.381          0.028          0              0              0              55
  11  CreditCard      3.455          0.723          1.262          0              180            0              62
  12  Pen             2.803          0.990          -2.037         0              270            0              37
  13  Pencil          3.087          0.992          -1.949         0              270            0              37
  14  Laptop          1.888          0.607          0.068          0              0              0              22
  15  Vase            1.950          0.990          -2.125         0              270            0              37
  16  AlarmClock      -1.037         0.786          0.081          0              0              0              58
  17  Pillow          2.533          0.631          1.264          0              0              0              22
  18  Pillow          1.966          0.631          1.226          0              0              0              22
  19  CellPhone       -0.776         0.380          -0.338         0              0              0              54
  20  CD              3.012          0.183          -1.835         0              270            0              36
  21  Vase            -0.384         0.772          3.172          0              0              0              44
  22  Bed             2.217          0.050          0.585          0              0              0
  23  GarbageCan      -0.978         0.048          -1.172         0              0              0
  24  Painting        2.990          1.592          1.567          90             0              0
  25  Painting        1.524          1.592          1.567          90             0              0
  26  Mirror          -1.190         1.417          -0.223         0              270            0
  27  LightSwitch     0.709          1.332          1.636          0              180            0
  28  Window          -2.629         1.460          2.891          90             270            0
  29  Window          -2.629         1.460          4.084          90             270            0
  30  DeskLamp        3.589          0.717          1.408          0              0              0
  31  Drawer          2.490          0.949          -1.703         0              0              0
  32  Cabinet         2.226          0.547          -1.615         0              0              0
  33  Drawer          1.975          0.949          -1.703         0              0              0
  34  Cabinet         1.207          0.547          -1.615         0              0              0
  35  Drawer          1.457          0.949          -1.703         0              0              0
  36  Cabinet         3.260          0.547          -1.615         0              0              0
  37  Dresser         2.234          0.048          -1.950         0              0              0
  38  Drawer          3.011          0.949          -1.703         0              0              0
  39  Cabinet         2.241          0.547          -1.615         0              0              0
  40  Shelf           -0.163         1.461          3.219          0              180            0
  41  Drawer          -0.161         0.242          3.166          0              180            0
  42  ShelvingUnit    -0.161         0.050          3.212          0              180            0
  43  Drawer          -0.161         0.562          3.168          0              180            0
  44  Shelf           -0.162         0.922          3.164          0              180            0
  45  Shelf           -0.162         1.241          3.163          0              180            0
  46  Blinds          -2.550         2.486          2.911          0              90             0
  47  Blinds          -2.550         2.486          4.107          0              90             0
  48  Drawer          -0.833         0.217          -0.336         0              90             0
  49  Drawer          -0.833         0.217          0.486          0              90             0
  50  Drawer          -0.833         0.628          -0.747         0              90             0
  51  Drawer          -0.833         0.217          0.075          0              90             0
  52  Drawer          -0.833         0.628          0.486          0              90             0
  53  Drawer          -0.833         0.217          -0.747         0              90             0
  54  Drawer          -0.833         0.423          -0.336         0              90             0
  55  Drawer          -0.833         0.423          0.075          0              90             0
  56  Drawer          -0.833         0.423          0.486          0              90             0
  57  Drawer          -0.833         0.423          -0.747         0              90             0
  58  Dresser         -0.934         0.050          -0.129         0              90             0
  59  Drawer          -0.833         0.628          0.075          0              90             0
  60  Drawer          -0.833         0.628          -0.336         0              90             0
  61  Drawer          3.454          0.212          1.262          0              180            0
  62  SideTable       3.455          0.046          1.328          0              180            0
  63  Drawer          3.454          0.504          1.262          0              180            0
  64  NorthWall
  65  EastWall
  66  SouthWall
  67  WestWall

Plan:
STEP 1: Walk around the bed to the dresser. | STEP 2: Grab the CD from the dresser. | STEP 3: Walk back around the bed to the shelf. | STEP 4: Place the CD on the top shelf. | END