Task: Put a CD on the book shelf.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.25           0.949          0.5            0              270            0
   1  CD              1.666          0.987          -2.212         0              270            0              40
   2  CD              2.234          0.984          -1.774         0              270            0              40
   3  CellPhone       3.087          0.988          -2.037         0              270            0              40
   4  Pen             -1.037         0.789          0.291          0              0              0              61
   5  Pen             -0.772         0.790          0.291          0              0              0              61
   6  Pencil          -0.350         1.112          3.115          0              180            0              48
   7  CreditCard      3.687          0.723          1.488          0              180            0              65
   8  Book            1.515          0.180          -1.896         0              270            0              37
   9  Book            1.888          0.610          0.549          0              0              0              25
  10  Laptop          2.381          0.607          -0.172         0              0              0              25
  11  Laptop          2.545          0.607          0.790          0              0              0              25
  12  Book            -0.838         0.784          -0.338         0              0              0              61
  13  KeyChain        3.377          0.725          1.397          0              180            0              65
  14  CreditCard      2.519          0.985          -2.212         0              270            0              40
  15  Pen             -0.068         0.789          3.088          0              180            0              47
  16  Pencil          -0.904         0.789          0.501          0              0              0              61
  17  Laptop          2.519          0.983          -1.862         0              270            0              40
  18  Vase            2.235          0.993          -2.125         0              270            0              40
  19  AlarmClock      3.087          0.989          -1.774         0              270            0              40
  20  Pillow          2.533          0.631          1.264          0              0              0              25
  21  Pillow          1.966          0.631          1.226          0              0              0              25
  22  CellPhone       -0.163         1.108          3.198          0              180            0              48
  23  CD              3.132          0.183          -1.778         0              270            0              39
  24  Vase            -0.384         0.772          3.172          0              0              0              47
  25  Bed             2.217          0.050          0.585          0              0              0
  26  GarbageCan      -0.978         0.048          -1.172         0              0              0
  27  Painting        2.990          1.592          1.567          90             0              0
  28  Painting        1.524          1.592          1.567          90             0              0
  29  Mirror          -1.190         1.417          -0.223         0              270            0
  30  LightSwitch     0.709          1.332          1.636          0              180            0
  31  Window          -2.629         1.460          2.891          90             270            0
  32  Window          -2.629         1.460          4.084          90             270            0
  33  DeskLamp        3.589          0.717          1.408          0              0              0
  34  Drawer          2.490          0.949          -1.703         0              0              0
  35  Cabinet         2.226          0.547          -1.615         0              0              0
  36  Drawer          1.975          0.949          -1.703         0              0              0
  37  Cabinet         1.207          0.547          -1.615         0              0              0
  38  Drawer          1.457          0.949          -1.703         0              0              0
  39  Cabinet         3.260          0.547          -1.615         0              0              0
  40  Dresser         2.234          0.048          -1.950         0              0              0
  41  Drawer          3.011          0.949          -1.703         0              0              0
  42  Cabinet         2.241          0.547          -1.615         0              0              0
  43  Shelf           -0.163         1.461          3.219          0              180            0
  44  Drawer          -0.161         0.242          3.166          0              180            0
  45  ShelvingUnit    -0.161         0.050          3.212          0              180            0
  46  Drawer          -0.161         0.562          3.168          0              180            0
  47  Shelf           -0.162         0.922          3.164          0              180            0
  48  Shelf           -0.162         1.241          3.163          0              180            0
  49  Blinds          -2.550         2.486          2.911          0              90             0
  50  Blinds          -2.550         2.486          4.107          0              90             0
  51  Drawer          -0.833         0.217          -0.336         0              90             0
  52  Drawer          -0.833         0.217          0.486          0              90             0
  53  Drawer          -0.833         0.628          -0.747         0              90             0
  54  Drawer          -0.833         0.217          0.075          0              90             0
  55  Drawer          -0.833         0.628          0.486          0              90             0
  56  Drawer          -0.833         0.217          -0.747         0              90             0
  57  Drawer          -0.833         0.423          -0.336         0              90             0
  58  Drawer          -0.833         0.423          0.075          0              90             0
  59  Drawer          -0.833         0.423          0.486          0              90             0
  60  Drawer          -0.833         0.423          -0.747         0              90             0
  61  Dresser         -0.934         0.050          -0.129         0              90             0
  62  Drawer          -0.833         0.628          0.075          0              90             0
  63  Drawer          -0.833         0.628          -0.336         0              90             0
  64  Drawer          3.454          0.212          1.262          0              180            0
  65  SideTable       3.455          0.046          1.328          0              180            0
  66  Drawer          3.454          0.504          1.262          0              180            0
  67  NorthWall
  68  EastWall
  69  SouthWall
  70  WestWall

Plan:
STEP 1: Turn to your left and go to the dresser against the wall, across from you. | STEP 2: Pick up the CD closest to you on the dresser.  | STEP 3: Turn to your left and go past the other dresser on your right, to the bookshelf across the room. | STEP 4: Place the CD on the second shelf between the gold vase and the pen. | END