Task: Move two CDs to the computer desk.

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          -0.5           0              270            0
   1  CD              1.471          0.517          -1.591         0              0              0              37
   2  Pencil          2.705          0.803          -1.666         0              90             0              35
   3  Pencil          1.240          0.515          -1.631         0              0              0              37
   4  KeyChain        1.352          0.284          -1.593         0              270            0              36
   5  KeyChain        1.240          0.284          -1.593         0              270            0              36
   6  Book            0.552          0.569          -0.236         0              0              0              22
   7  Book            0.715          0.569          -1.129         0              0              0              22
   8  Book            2.881          0.791          -1.623         0              39.196         0              35
   9  KeyChain        2.931          0.547          -1.464         0              0              0              34
  10  TissueBox       3.067          0.536          -1.421         0              0              0              34
  11  TeddyBear       -0.075         0.562          -0.274         353.177        297.143        5.348          22
  12  Pencil          2.825          0.796          -1.432         0              315            0              35
  13  CreditCard      1.239          0.515          -1.712         0              0              0              37
  14  TennisRacket    -0.921         0.344          0.390          13.911         273.938        195.992        Floor|+00.39|
  15  Laptop          2.362          0.791          -1.54          0              0              0              35
  16  AlarmClock      1.108          0.511          -1.673         0              345.231        0              37
  17  Pen             2.108          0.804          -1.543         0              0              0              35
  18  Pillow          0.299          0.643          -1.557         0              0              0              22
  19  CellPhone       1.317          0.516          -1.752         0              0              0              37
  20  CD              3.189          0.077          -0.241         0              270            0              24
  21  Mug             1.909          0.796          -1.605         0              0              0              35
  22  Bed             0.227          -0.003         -0.947         0              180            0
  23  Mirror          0.615          1.264          1.029          0              0              0
  24  GarbageCan      3.166          -0.011         -0.264         4.636          271.335        0
  25  DeskLamp        3.164          0.794          -1.664         0              315            0
  26  HousePlant      -0.833         0.000          0.843          0              0              0
  27  LightSwitch     2.010          1.126          1.029          0              180            0
  28  Window          1.794          1.677          -1.939         90             180            0
  29  Window          0.691          1.361          -1.938         90             180            0
  30  Dumbbell        2.628          0.001          -1.613         0              346.954        0
  31  Blinds          1.776          1.993          -1.858         0              0              0
  32  Blinds          0.670          1.993          -1.858         0              0              0
  33  Chair           2.255          0.004          -1.501         0              167.716        0
  34  Shelf           3.034          0.637          -1.580         0              0              0
  35  Desk            2.500          0.002          -1.596         0              0              0
  36  Drawer          1.240          0.354          -1.553         0              0              0
  37  SideTable       1.239          0.003          -1.551         0              0              0
  38  Drawer          1.240          0.126          -1.553         0              0              0
  39  NorthWall
  40  EastWall
  41  SouthWall
  42  WestWall

Plan:
STEP 1: Turn left and move to the bed side table on the left of the bed. | STEP 2: Pick up the CD from the night stand. | STEP 3: Move to the front of the desk on your left. | STEP 4: Set the CD down on the front edge of the desk between the book and the laptop. | STEP 5: Turn left to the trash can. | STEP 6: Pick up the CD out of the trash can. | STEP 7: Turn right and move back to the front of the desk. | STEP 8: Set the second CD down on the front edge of the desk to the right of the chair. | END