Task: put two CD's inside of the safe on the ground

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.901          0.5            0              180            0
   1  Bowl            0.402          0.972          -1.557         0              270            0              41
   2  CD              -2.249         0.058          -1.754         0              77.664         0              32
   3  CD              0.604          0.970          -1.557         0              270            0              41
   4  CD              -2.185         0.054          -1.826         0              77.664         0              32
   5  CellPhone       0.897          0.418          0.419          0              0              0              51
   6  CellPhone       1.753          0.043          -2.074         0              88.075         0              54
   7  Pen             -0.395         0.611          -1.656         0              270            0              40
   8  Pen             0.201          0.976          -1.926         0              0              0              41
   9  Pencil          -0.401         0.975          -1.557         0              270            0              41
  10  Pencil          -0.401         0.974          -1.778         0              270            0              41
  11  CreditCard      -0.602         0.972          -1.557         0              270            0              41
  12  CreditCard      2.068          0.572          1.512          0              180            0              39
  13  KeyChain        -0.602         0.973          -1.631         0              270            0              41
  14  AlarmClock      -0.200         0.971          -1.705         0              270            0              41
  15  Box             -1.751         0.252          1.499          0              340.773        0              Floor|+00.00|
  16  Book            -0.300         0.801          -1.711         0              270            0              45
  17  Cloth           -1.146         0.000          -2.123         0              0              0              Floor|+00.00|
  18  CellPhone       2.344          0.576          1.240          0              180            0              39
  19  Pencil          -0.581         0.040          -1.711         0              270            0              42
  20  AlarmClock      -0.602         0.972          -1.852         0              270            0              41
  21  TeddyBear       -2.236         0.000          1.457          0              319.128        0              Floor|+00.00|
  22  CreditCard      0.398          0.799          -1.711         0              270            0              43
  23  KeyChain        -0.210         0.606          -1.656         0              270            0              44
  24  Pillow          2.11           0.422          0.331          0              270            0              51
  25  Pillow          2.15           0.433          -0.241         0              282.078        0              51
  26  Laptop          1.640          0.413          -0.080         0              0              0              51
  27  Bowl            0.471          0.965          -1.856         0              0              0              41
  28  Cloth           -1.288         0.000          -1.936         0              357.341        356.936        Floor|+00.00|
  29  CD              2.160          0.569          1.240          0              180            0              39
  30  Pen             2.160          0.571          1.348          0              180            0              39
  31  DeskLamp        2.302          0.561          1.435          0              315            0
  32  GarbageCan      -2.208         -0.023         -1.742         0              77.663         0
  33  Poster          2.439          1.508          0.014          90             270            0
  34  LightSwitch     -2.457         1.274          -0.096         0              90             0
  35  Mirror          2.454          1.322          -1.414         0              90             0
  36  Window          -1.440         1.815          -2.354         90             0              0
  37  Window          1.401          1.815          -2.354         90             0              0
  38  Drawer          2.251          0.468          1.333          0              270            0
  39  SideTable       2.243          -0.001         1.331          0              270            0
  40  Drawer          -0.385         0.681          -1.631         0              0              0
  41  Dresser         0.011          0.001          -1.676         0              0              0
  42  Drawer          -0.385         0.105          -1.631         0              0              0
  43  Drawer          0.408          0.868          -1.632         0              0              0
  44  Drawer          -0.385         0.487          -1.631         0              0              0
  45  Drawer          -0.385         0.868          -1.632         0              0              0
  46  Drawer          0.408          0.681          -1.631         0              0              0
  47  Drawer          0.408          0.105          -1.631         0              0              0
  48  Drawer          0.408          0.292          -1.631         0              0              0
  49  Drawer          -0.385         0.292          -1.631         0              0              0
  50  Drawer          0.408          0.487          -1.631         0              0              0
  51  Bed             1.377          0.004          0.072          0              90             0
  52  Blinds          1.422          3.115          -2.339         0              0              0
  53  Blinds          -1.422         3.115          -2.339         0              0              0
  54  Safe            1.640          0.000          -2.040         0              355.244        0
  55  LaundryHamper   -1.564         0.001          -1.927         0              45             0
  56  NorthWall
  57  EastWall
  58  SouthWall
  59  WestWall

Plan:
STEP 1: move forwards to the end of the room with the dresser | STEP 2: grab the CD off of the top of the dresser | STEP 3: turn left and move to the end of the room, then turn right to face the safe on the floor | STEP 4: put the CD inside of the safe on the floor | STEP 5: turn right and walk to the end of the dresser on the left, then turn right and walk to the end of the foot of the bed, then turn right and walk to the end of the room | STEP 6: grab the CD off of the nightstand there | STEP 7: turn around and walk to the end of the bed, turn left and walk to the dresser, then turn left and walk to the end of the room, right and face the safe on the ground | STEP 8: put the CD inside the safe on the ground | END