Task: Moving 2 cd's to a table beside the bed

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            0.900          -1.75          0              180            0
   1  CD              2.930          0.779          -1.679         0              0              0              38
   2  CellPhone       1.119          0.433          -2.345         0              330.000        0              36
   3  CellPhone       0.806          0.447          -2.312         0              330.000        0              36
   4  Pen             0.357          0.710          1.380          0              90             0              32
   5  Pen             2.930          0.785          -1.59          0              0              0              38
   6  Pencil          0.226          0.708          1.380          0              90             0              32
   7  Pencil          0.291          0.708          1.213          0              90             0              32
   8  Book            1.171          0.596          0.722          0              0              0              25
   9  AlarmClock      3.393          0.779          -1.322         0              0              0              38
  10  AlarmClock      3.701          0.779          -1.679         0              0              0              38
  11  Book            0.968          0.596          0.145          0              0              0              25
  12  KeyChain        0.980          0.434          -2.104         0              150.000        0              36
  13  Pillow          1.171          0.677          -0.238         0              90             0              25
  14  Pillow          0.535          0.638          -0.119         0              279.121        0              25
  15  CreditCard      0.291          0.705          1.047          0              90             0              32
  16  Pen             2.776          0.785          -1.500         0              0              0              38
  17  Pencil          2.930          0.782          -1.411         0              0              0              38
  18  TissueBox       3.084          0.781          -1.411         0              0              0              38
  19  Laptop          3.452          0.773          -1.667         0              210.000        0              38
  20  CellPhone       0.226          0.705          1.130          0              90             0              32
  21  AlarmClock      3.701          0.779          -1.857         0              0              0              38
  22  CD              0.887          0.432          -1.943         0              330.000        0              36
  23  Chair           3.232          0.002          -1.873         0              350.846        0
  24  Mirror          1.083          1.228          1.700          0              0              0
  25  Bed             0.898          -0.002         0.141          0              270            0
  26  GarbageCan      3.633          8.165          -0.982         0              209.052        0
  27  DeskLamp        3.681          0.785          -1.386         0              0              0
  28  DeskLamp        0.347          0.698          -0.979         0              0              0
  29  Painting        0.100          1.432          -2.053         90             270            0
  30  Window          2.270          1.547          -2.915         90             0              0
  31  LightSwitch     1.809          1.169          1.700          0              180            0
  32  SideTable       0.277          0.000          1.299          0              90             0
  33  SideTable       0.276          0.000          -1.017         0              90             0
  34  Drawer          0.328          0.624          1.299          0              90             0
  35  Drawer          0.328          0.624          -1.017         0              90             0
  36  ArmChair        0.849          -0.001         -2.141         0              66.451         0
  37  Blinds          2.299          2.525          -2.892         0              0              0
  38  Desk            3.238          0.003          -1.590         0              0              0
  39  NorthWall
  40  EastWall
  41  SouthWall
  42  WestWall

Plan:
STEP 1: Turn right towards the brown chair | STEP 2: Pick up the CD from the chair | STEP 3: Turn to the table on the right between the chair and the bed | STEP 4: Place the CD on the table | STEP 5: Turn around and go to the table and turn right to face the clock and tissues | STEP 6: Pick up the CD from behind the pencil on the table | STEP 7: Turn around and go to the table between the chair and the bed | STEP 8: Put the CD to the right of the lamp | END