Task: Take cd out of garbage and put on dresser.

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           0.900          -3.0           0              270            0
   1  Mug             -2.394         0.679          -3.382         0              180            0              43
   2  Mug             2.211          0.894          -3.113         0              0              0              41
   3  CD              -2.439         0.680          -0.359         0              90             0              50
   4  CD              2.039          0.896          -3.182         0              0              0              41
   5  CD              2.211          0.896          -3.389         0              0              0              41
   6  CellPhone       2.039          0.349          -0.519         0              0              0              36
   7  CellPhone       -2.575         0.673          -0.591         0              90             0              50
   8  Pencil          -2.349         0.685          -3.227         0              90             0              43
   9  CreditCard      2.211          0.896          -3.251         0              0              0              41
  10  KeyChain        2.826          1.228          1.283          0              270            0              48
  11  Book            2.685          1.227          1.397          0              270            0              48
  12  Book            1.783          0.079          -3.139         0              90             0              40
  13  Laptop          2.188          0.352          -0.296         0              0              0              36
  14  Book            -1.308         0.618          -1.861         0              0              0              28
  15  CreditCard      -2.530         0.680          -0.359         0              90             0              50
  16  Pen             -2.620         0.686          -3.072         0              90             0              43
  17  Pencil          -2.525         0.683          -0.669         49.936         86.263         354.898        50
  18  TeddyBear       -0.667         0.612          -1.364         0              81.467         0              28
  19  Laptop          -1.31          0.612          -1.542         0              0              0              28
  20  AlarmClock      2.556          0.900          -3.044         0              0              0              41
  21  CellPhone       1.694          0.896          -3.044         0              0              0              41
  22  KeyChain        -2.620         0.681          -2.995         0              90             0              43
  23  Pillow          -2.124         0.658          -1.522         0              28.296         0              28
  24  Pillow          -1.025         0.680          -2.461         0              0              0              28
  25  CD              1.316          0.019          -3.342         0              0              0              32
  26  Mug             2.384          0.894          -3.044         0              0              0              41
  27  Bowl            1.840          0.889          -3.239         0              0              0              41
  28  Bed             -1.613         -0.028         -1.861         0              270            0
  29  DeskLamp        2.760          0.890          -3.317         0              90             0
  30  DeskLamp        -2.459         0.668          -0.532         0              90             0
  31  LightSwitch     -0.700         1.016          0.334          0              90             0
  32  GarbageCan      1.343          1.087          -3.374         0              0              0
  33  Mirror          0.532          1.419          2.0            0              0              0
  34  Window          -0.834         1.394          -3.653         90             0              0
  35  Window          2.958          1.508          -1.019         90             270            0
  36  Sofa            2.383          0.008          -0.288         0              270            0
  37  Safe            2.721          1.228          1.784          0              270            0
  38  Drawer          1.979          0.486          -2.988         0              0              0
  39  Drawer          1.979          0.728          -2.988         0              0              0
  40  Drawer          1.979          0.208          -2.988         0              0              0
  41  Desk            2.318          -0.009         -3.214         0              0              0
  42  Drawer          -2.349         0.163          -3.150         0              90             0
  43  SideTable       -2.416         -0.001         -3.149         0              90             0
  44  Drawer          -2.349         0.455          -3.150         0              90             0
  45  Drawer          2.641          0.172          1.511          0              270            0
  46  Drawer          2.641          1.002          1.511          0              270            0
  47  Drawer          2.641          0.448          1.511          0              270            0
  48  Dresser         2.676          0.002          1.511          0              270            0
  49  Drawer          2.641          0.725          1.511          0              270            0
  50  SideTable       -2.416         -0.001         -0.514         0              90             0
  51  Drawer          -2.349         0.163          -0.514         0              90             0
  52  Drawer          -2.349         0.455          -0.514         0              90             0
  53  Blinds          -0.800         2.087          -3.627         0              0              0
  54  Blinds          2.931          2.166          -1.0           0              270            0
  55  Chair           2.574          0.002          -2.881         0              175.162        0
  56  NorthWall
  57  EastWall
  58  SouthWall
  59  WestWall

Plan:
STEP 1: Turn left to face garbage can on floor. | STEP 2: Pick up cd from garbage can. | STEP 3: Turn around, proceed to wall.  Turn right, proceed to dresser. | STEP 4: Place cd on top of dresser all the way to the right, to the right of the book. | END