Task: Move two CDs on the desk to the drawer 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          0.899          -2.5           0              0              0
   1  Mug             3.147          0.790          -0.838         0              0              0              63
   2  Bowl            3.271          0.791          -2.250         0              0              0              63
   3  Watch           -1.676         0.338          0.414          0              90             0              65
   4  CD              3.209          0.791          -1.968         0              0              0              63
   5  CD              2.962          0.791          -2.250         0              0              0              63
   6  Pen             0.859          1.419          -2.154         0              270            0              42
   7  Pencil          -1.592         0.619          0.422          0              180            0              67
   8  Pencil          3.271          0.798          -1.121         0              0              0              63
   9  CreditCard      -1.574         0.337          0.350          0              0              0              65
  10  Book            -0.175         0.614          0.245          0              0              0              36
  11  Book            -0.175         0.614          -0.317         0              0              0              36
  12  Laptop          -0.327         0.614          -1.442         0              0              0              36
  13  Laptop          -2.307         0.598          -0.879         0              0              0              35
  14  Book            -0.784         0.614          -0.317         0              0              0              36
  15  Laptop          -2.155         0.598          -0.317         0              0              0              35
  16  KeyChain        -1.453         0.615          0.340          0              180            0              67
  17  Cloth           0.970          -0.001         -2.404         0              0              0
  18  BaseballBat     -2.982         0.015          -2.698         270            350.597        0
  19  BasketBall      -2.718         0.118          -1.925         0              0              0
  20  Pillow          -0.631         0.693          -0.879         0              0              0              36
  21  Pillow          -0.626         0.650          0.129          0              0              0              36
  22  TennisRacket    -3.018         0.301          -2.199         19.103         272.232        184.978
  23  Pencil          3.209          0.797          -1.686         0              0              0              63
  24  CreditCard      0.954          1.413          -2.089         0              270            0              42
  25  Cloth           0.911          0.025          -2.702         0              0              0
  26  TeddyBear       -2.645         0.624          -0.402         0              286.876        0              35
  27  Pen             0.891          1.147          -2.653         0              270            0              45
  28  Cloth           0.705          -0.001         -2.75          0              270            0
  29  AlarmClock      3.271          0.794          -0.838         0              0              0              63
  30  Watch           -1.676         0.075          0.371          0              0              0              66
  31  CellPhone       -2.979         1.141          -2.197         0              90             0              43
  32  CD              -1.574         0.074          0.350          0              0              0              66
  33  Mug             -1.731         0.611          0.503          0              180            0              67
  34  Bowl            -2.948         1.141          -2.866         0              90             0              49
  35  Bed             -2.455         -0.000         -0.572         0              0              0
  36  Bed             -0.634         -0.000         -0.567         0              0              0
  37  Chair           2.828          -0.002         -0.004         0              245.795        0
  38  Chair           2.727          -0.002         -1.210         0              95.225         0
  39  GarbageCan      1.707          -0.003         -2.785         0              59.967         0
  40  Shelf           0.922          1.133          -2.163         0              270            0
  41  Shelf           -2.948         1.405          -1.621         0              90             0
  42  Shelf           0.922          1.405          -2.163         0              270            0
  43  Shelf           -2.948         1.133          -2.188         0              90             0
  44  Shelf           -2.948         1.405          -2.188         0              90             0
  45  Shelf           0.922          1.133          -2.729         0              270            0
  46  Shelf           0.922          1.133          -1.616         0              270            0
  47  Shelf           -2.948         1.405          -2.735         0              90             0
  48  Shelf           0.922          1.405          -1.616         0              270            0
  49  Shelf           -2.948         1.133          -2.735         0              90             0
  50  Shelf           0.922          1.405          -2.729         0              270            0
  51  Shelf           -2.948         1.133          -1.621         0              90             0
  52  LightSwitch     -0.142         1.328          0.600          0              180            0
  53  Poster          3.400          1.863          -1.976         90             90             0
  54  Poster          3.400          1.702          -0.792         90             90             0
  55  DeskLamp        3.126          0.789          -0.638         0              3.649          0
  56  Mirror          0.453          1.491          0.616          0              0              0
  57  Window          2.278          0.925          -3.184         90             0              0
  58  Window          -1.019         0.925          -3.184         90             0              0
  59  Blinds          -1.003         2.072          -3.177         0              0              0
  60  Blinds          2.292          2.072          -3.177         0              0              0
  61  Shelf           3.124          0.633          -0.564         0              270            0
  62  Shelf           3.124          0.633          -2.267         0              270            0
  63  Desk            3.141          -0.000         -1.414         0              270            0
  64  Desktop         3.101          0.792          -1.236         358.565        270            0
  65  Drawer          -1.523         0.408          0.346          0              180            0
  66  Drawer          -1.523         0.141          0.346          0              180            0
  67  SideTable       -1.522         -0.001         0.411          0              180            0
  68  NorthWall
  69  EastWall
  70  SouthWall
  71  WestWall

Plan:
STEP 1: Turn right and go around the book shelf to the right side of the desk.  | STEP 2: Pick up the CD on the left of the gray bowl on the top of the desk  | STEP 3: Move over left to the front of the drawer shelf under the desk top.  | STEP 4: Place the CD on the shelf on the left side. | STEP 5: Move over right to the front of the other CD on the top of the desk. | STEP 6: Pick up the CD near the front edge of the desk. | STEP 7: Move over left to the front of the drawer shelf.  | STEP 8: Place the CD on the right of the first CD on the shelf.  | END