Task: take a disk from the dresser and put it on 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           -1.0           0.949          3.0            0              0              0
   1  CD              2.952          0.183          -2.005         0              270            0              41
   2  CD              2.234          0.984          -1.862         0              270            0              42
   3  CellPhone       1.950          0.988          -1.687         0              270            0              42
   4  CellPhone       3.377          0.723          1.443          0              180            0              67
   5  Pen             3.087          0.990          -2.125         0              270            0              42
   6  Pencil          -0.848         0.384          -0.292         0              0              0              59
   7  CreditCard      3.300          0.723          1.262          0              180            0              67
   8  CreditCard      -0.706         0.783          -0.128         0              0              0              63
   9  KeyChain        2.803          0.986          -1.949         0              270            0              42
  10  KeyChain        1.382          0.986          -2.125         0              270            0              42
  11  Book            2.545          0.610          1.271          0              0              0              27
  12  AlarmClock      -0.904         0.786          -0.338         0              0              0              63
  13  AlarmClock      -0.904         0.785          0.081          0              180            0              63
  14  Book            1.723          0.610          1.030          0              0              0              27
  15  KeyChain        -0.848         0.175          0.391          0              90             0              54
  16  CreditCard      3.377          0.723          1.262          0              180            0              67
  17  Pen             2.235          0.990          -2.125         0              270            0              42
  18  Pencil          -0.904         0.788          -0.548         0              0              0              63
  19  Laptop          1.950          0.986          -2.037         0              270            0              42
  20  Vase            1.666          0.993          -2.037         0              270            0              42
  21  AlarmClock      -0.838         0.786          -0.128         0              0              0              63
  22  Pillow          1.888          0.674          0.549          0              0              0              27
  23  Pillow          2.381          0.674          0.308          0              0              0              27
  24  CellPhone       -0.257         1.108          3.198          0              180            0              50
  25  CD              3.087          0.987          -1.949         0              270            0              42
  26  Vase            -0.384         0.772          3.172          0              0              0              49
  27  Bed             2.217          0.050          0.585          0              0              0
  28  GarbageCan      -0.978         0.048          -1.172         0              0              0
  29  Painting        2.990          1.592          1.567          90             0              0
  30  Painting        1.524          1.592          1.567          90             0              0
  31  Mirror          -1.190         1.417          -0.223         0              270            0
  32  LightSwitch     0.709          1.332          1.636          0              180            0
  33  Window          -2.629         1.460          2.891          90             270            0
  34  Window          -2.629         1.460          4.084          90             270            0
  35  DeskLamp        3.589          0.717          1.408          0              0              0
  36  Drawer          2.490          0.949          -1.703         0              0              0
  37  Cabinet         2.226          0.547          -1.615         0              0              0
  38  Drawer          1.975          0.949          -1.703         0              0              0
  39  Cabinet         1.207          0.547          -1.615         0              0              0
  40  Drawer          1.457          0.949          -1.703         0              0              0
  41  Cabinet         3.260          0.547          -1.615         0              0              0
  42  Dresser         2.234          0.048          -1.950         0              0              0
  43  Drawer          3.011          0.949          -1.703         0              0              0
  44  Cabinet         2.241          0.547          -1.615         0              0              0
  45  Shelf           -0.163         1.461          3.219          0              180            0
  46  Drawer          -0.161         0.242          3.166          0              180            0
  47  ShelvingUnit    -0.161         0.050          3.212          0              180            0
  48  Drawer          -0.161         0.562          3.168          0              180            0
  49  Shelf           -0.162         0.922          3.164          0              180            0
  50  Shelf           -0.162         1.241          3.163          0              180            0
  51  Blinds          -2.550         2.486          2.911          0              90             0
  52  Blinds          -2.550         2.486          4.107          0              90             0
  53  Drawer          -0.833         0.217          -0.336         0              90             0
  54  Drawer          -0.833         0.217          0.486          0              90             0
  55  Drawer          -0.833         0.628          -0.747         0              90             0
  56  Drawer          -0.833         0.217          0.075          0              90             0
  57  Drawer          -0.833         0.628          0.486          0              90             0
  58  Drawer          -0.833         0.217          -0.747         0              90             0
  59  Drawer          -0.833         0.423          -0.336         0              90             0
  60  Drawer          -0.833         0.423          0.075          0              90             0
  61  Drawer          -0.833         0.423          0.486          0              90             0
  62  Drawer          -0.833         0.423          -0.747         0              90             0
  63  Dresser         -0.934         0.050          -0.129         0              90             0
  64  Drawer          -0.833         0.628          0.075          0              90             0
  65  Drawer          -0.833         0.628          -0.336         0              90             0
  66  Drawer          3.454          0.212          1.262          0              180            0
  67  SideTable       3.455          0.046          1.328          0              180            0
  68  Drawer          3.454          0.504          1.262          0              180            0
  69  NorthWall
  70  EastWall
  71  SouthWall
  72  WestWall

Plan:
STEP 1: go to the end of the black dresser at the foot of the bed | STEP 2: pick up the disk from the dresser | STEP 3: take the disk to the book shelf | STEP 4: put the disk on the shelf | END