Task: Put CD's away in black table.

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          -1.0           0              0              0
   1  CD              0.260          0.704          -1.186         0              180            0              34
   2  CellPhone       3.547          0.779          -1.411         0              0              0              39
   3  CellPhone       1.171          0.596          0.722          0              0              0              26
   4  Pen             2.930          0.785          -1.322         0              0              0              39
   5  Pencil          3.084          0.782          -1.59          0              0              0              39
   6  CreditCard      0.841          0.433          -1.863         0              330.000        0              37
   7  CreditCard      3.239          0.779          -1.857         0              0              0              39
   8  KeyChain        2.776          0.781          -1.411         0              0              0              39
   9  Book            3.701          0.777          -1.679         0              0              0              39
  10  AlarmClock      0.260          0.704          -1.017         0              180            0              34
  11  Laptop          1.374          0.594          -0.046         0              0              0              26
  12  Book            0.968          0.596          0.145          0              0              0              26
  13  KeyChain        3.393          0.779          -1.857         0              0              0              39
  14  Pillow          0.968          0.677          -0.430         0              0              0              26
  15  Pillow          0.833          0.532          -2.189         0              330.000        0              37
  16  CreditCard      0.291          0.705          -1.102         0              180            0              34
  17  Pen             0.258          0.711          1.130          0              90             0              33
  18  Pencil          3.084          0.782          -1.768         0              0              0              39
  19  TissueBox       0.303          0.698          -0.783         0              0              0              34
  20  Laptop          1.577          0.594          0.722          0              0              0              26
  21  CellPhone       2.776          0.779          -1.857         0              0              0              39
  22  AlarmClock      3.393          0.779          -1.59          0              0              0              39
  23  CD              0.621          0.436          -1.990         0              330.000        0              37
  24  Chair           3.232          0.002          -1.873         0              350.846        0
  25  Mirror          1.083          1.228          1.700          0              0              0
  26  Bed             0.898          -0.002         0.141          0              270            0
  27  GarbageCan      3.633          8.165          -0.982         0              209.052        0
  28  DeskLamp        3.681          0.785          -1.386         0              0              0
  29  DeskLamp        0.347          0.698          -0.979         0              0              0
  30  Painting        0.100          1.432          -2.053         90             270            0
  31  Window          2.270          1.547          -2.915         90             0              0
  32  LightSwitch     1.809          1.169          1.700          0              180            0
  33  SideTable       0.277          0.000          1.299          0              90             0
  34  SideTable       0.276          0.000          -1.017         0              90             0
  35  Drawer          0.328          0.624          1.299          0              90             0
  36  Drawer          0.328          0.624          -1.017         0              90             0
  37  ArmChair        0.849          -0.001         -2.141         0              66.451         0
  38  Blinds          2.299          2.525          -2.892         0              0              0
  39  Desk            3.238          0.003          -1.590         0              0              0
  40  NorthWall
  41  EastWall
  42  SouthWall
  43  WestWall

Plan:
STEP 1: Turn around, then face the black table to your right. | STEP 2: Take the CD from the black table in front of you. | STEP 3: Turn around in a circle, face the black table in front of you. | STEP 4: Open the black table drawer in front of you, place the CD inside the black table and close the cabinet. | STEP 5: Turn left and face the grey couch on your right. | STEP 6: Take the CD off the grey couch in front of you. | STEP 7: Turn right, then left and head towards the black table in front of you. | STEP 8: Open the black table drawer in front of you, place the CD inside and close the drawer. | END