Task: Put CDs away in desk drawer.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.75           0.900          -0.25          0              180            0
   1  CD              1.138          0.941          -1.937         0              0              0              29
   2  CellPhone       -0.252         0.902          -1.495         0              0              0              23
   3  CellPhone       2.324          0.292          1.173          0              0              0              37
   4  Pen             -0.948         0.906          -1.680         0              0              0              23
   5  Pen             1.138          0.947          -1.826         0              0              0              29
   6  Pencil          2.282          0.528          1.272          0              180            0              35
   7  CreditCard      2.205          0.524          1.352          0              180            0              40
   8  Book            -0.600         0.896          -1.310         0              0              0              23
   9  Book            3.152          0.777          -1.354         0              180            0              33
  10  AlarmClock      0.253          0.943          -1.91          0              0              0              29
  11  AlarmClock      -0.774         0.902          -1.773         0              0              0              23
  12  Book            -1.031         0.375          -1.330         0              0              0              24
  13  Pen             2.591          0.530          1.151          0              180            0              35
  14  AlarmClock      2.436          0.526          1.231          0              180            0              35
  15  TeddyBear       1.324          0.827          -0.763         56.834         332.692        298.236        41
  16  CellPhone       0.784          0.943          -1.91          0              0              0              29
  17  Pencil          -0.881         0.097          -1.279         0              0              0              25
  18  Pillow          3.173          0.804          -0.932         0              0              0              41
  19  Laptop          2.054          0.774          -0.906         0              180            0              33
  20  KeyChain        2.514          0.523          1.272          0              180            0              35
  21  CreditCard      2.436          0.524          1.312          0              180            0              35
  22  CD              2.205          0.522          1.191          0              180            0              35
  23  Desk            -0.503         0.006          -1.465         0              0              0
  24  Drawer          -0.945         0.493          -1.176         0              0              0
  25  Drawer          -0.946         0.212          -1.176         0              0              0
  26  Drawer          -0.944         0.739          -1.176         0              0              0
  27  DeskLamp        -0.124         0.899          -1.731         0              0              0
  28  LightSwitch     3.513          1.253          0.165          0              270            0
  29  Shelf           0.759          0.934          -1.909         0              0              0
  30  Mirror          2.407          1.294          1.401          0              0              0
  31  GarbageCan      3.347          -0.000         -0.027         0              270            0
  32  Window          0.717          1.603          -2.108         90             0              0
  33  Bed             2.301          0.005          -1.056         0              270            0
  34  Blinds          0.749          2.523          -2.022         0              0              0
  35  SideTable       2.436          0.002          1.143          0              180            0
  36  Drawer          2.437          0.122          1.154          0              180            0
  37  Drawer          2.437          0.350          1.153          0              180            0
  38  LaundryHamper   0.359          0.006          -1.505         0              280.399        358.305
  39  Chair           -0.308         0.009          -1.108         0              166.824        0
  40
  41
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: Turn around and move to the black cabinet. | STEP 2: Pick up the cd on the black cabinet. | STEP 3: Turn to your left and go to the desk. | STEP 4: Open the top drawer on the desk.  Place the cd in the drawer.  Shut the drawer. | STEP 5: Go to the window sill. | STEP 6: Pick up the cd on the window sill. | STEP 7: Go to the desk.   | STEP 8: Open the drawer.  Place the cd behind the cd that is in there.  Shut the drawer. | END