Task: Putting away CD's in the dresser drawer

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.0            0.902          -0.5           0              0              0
   1  Statue          0.282          0.838          -2.414         0              0              0              40
   2  Statue          0.824          0.838          -2.414         0              0              0              40
   3  CD              2.703          0.819          0.623          0              270            0              56
   4  CD              2.456          0.819          0.054          0              270            0              56
   5  CD              2.394          0.821          0.244          0              270            0              56
   6  Pen             2.601          0.197          -0.041         0              0              0              53
   7  Pencil          -0.440         0.431          -1.696         0              0              0              42
   8  Pencil          -0.858         0.430          -1.835         0              0              0              38
   9  CreditCard      2.703          0.819          0.054          0              270            0              56
  10  AlarmClock      0.553          0.832          -2.383         0              0              0              45
  11  AlarmClock      2.517          0.819          0.623          0              270            0              56
  12  Box             0.252          0.227          -2.042         0              29.078         0
  13  Book            2.554          0.191          0.618          0              0              0              55
  14  Statue          1.377          1.454          -1.758         0              0              0              40
  15  CellPhone       0.369          0.730          0.702          0              0              0              26
  16  Pillow          0.176          0.809          0.437          0              0              0              26
  17  Pillow          -0.441         0.738          1.64           0              348.951        0              26
  18  BasketBall      -1.231         0.121          -0.18          0              0              0
  19  CreditCard      2.461          0.034          -0.303         0              0              0              58
  20  KeyChain        2.456          0.822          -0.134         0              0              0              56
  21  Pencil          2.461          0.679          0.793          0              0              0              56
  22  AlarmClock      -0.950         0.426          -1.724         0              0              0              38
  23  Laptop          -0.209         0.729          1.232          0              0              0              26
  24  CD              -0.615         0.964          -1.724         0              0              0              41
  25  Pen             -0.325         0.052          -1.752         0              0              0              39
  26  Bed             -0.209         -0.001         0.983          0              0              0
  27  LightSwitch     0.778          1.266          2.128          0              180            0
  28  GarbageCan      -1.357         -0.020         -0.928         0              0              0
  29  Painting        2.063          1.674          -1.865         83.723         0              0
  30  HousePlant      -0.808         0.953          -1.730         0              0              0
  31  Painting        1.871          0.393          -1.792         79.235         0              0
  32  Mirror          2.842          1.404          1.375          0              90             0
  33  DeskLamp        2.676          0.819          0.878          0              0              0
  34  Window          -1.700         1.444          -0.542         90             90             0
  35  Window          0.535          1.412          -2.618         90             0              0
  36  Shelf           -0.904         0.824          -1.754         0              0              0
  37  Shelf           -0.802         0.981          -1.756         0              0              0
  38  Shelf           -0.904         0.555          -1.754         0              0              0
  39  Shelf           -0.327         0.225          -1.754         0              0              0
  40  Shelf           -0.439         0.822          -1.754         0              0              0
  41  Shelf           -0.619         0.981          -1.754         0              0              0
  42  Shelf           -0.439         0.556          -1.754         0              0              0
  43  Shelf           -0.709         0.225          -1.754         0              0              0
  44  ShelvingUnit    -0.641         0.006          -1.745         0              0              0
  45  Stool           0.799          0.004          -2.105         0              0              0
  46  Blinds          0.542          2.135          -2.553         0              0              0
  47  Blinds          -1.645         2.145          -0.546         0              90             0
  48  Drawer          2.518          0.574          0.623          0              270            0
  49  Drawer          2.517          0.411          0.623          0              270            0
  50  Drawer          2.518          0.732          0.623          0              270            0
  51  Drawer          2.518          0.732          -0.119         0              270            0
  52  Drawer          2.517          0.411          -0.119         0              270            0
  53  Drawer          2.517          0.247          -0.119         0              270            0
  54  Drawer          2.517          0.090          0.623          0              270            0
  55  Drawer          2.517          0.247          0.623          0              270            0
  56  Dresser         2.555          0.003          0.252          0              270            0
  57  Drawer          2.518          0.574          -0.119         0              270            0
  58  Drawer          2.517          0.090          -0.119         0              270            0
  59  NorthWall
  60  EastWall
  61  SouthWall
  62  WestWall

Plan:
STEP 1: Walk to the dresser on your right and face it | STEP 2: Pick up one CD on the right dresser top | STEP 3: Turn to the left dresser drawer | STEP 4: Open the top left dresser drawer and place the CD inside | STEP 5: Close the top left dresser drawer | STEP 6: Pick up CD behind the alarm clock on the dresser top | STEP 7: Turn to the left dresser drawer | STEP 8: Open the top left dresser drawer and place the CD inside and close it | END