Task: Put two compact disks in the safe.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.901          1.25           0              270            0
   1  CD              -0.602         0.970          -1.852         0              270            0              37
   2  Pen             0.201          0.977          -1.778         0              270            0              37
   3  Pen             -0.200         0.976          -1.557         0              270            0              37
   4  Pencil          0.491          0.040          -1.542         0              270            0              43
   5  CreditCard      0.604          0.972          -1.557         0              270            0              37
   6  KeyChain        1.483          0.041          -1.979         0              178.075        0              50
   7  KeyChain        0.120          0.606          -1.656         0              270            0              42
   8  Book            0.649          0.417          0.252          0              0              0              47
   9  Book            0.490          0.607          -1.712         0              270            0              42
  10  AlarmClock      -0.602         0.972          -1.705         0              270            0              37
  11  Box             -1.751         0.252          1.499          0              340.773        0              Floor|+00.00|
  12  Book            1.145          0.417          -0.247         0              0              0              47
  13  Cloth           -1.146         0.000          -2.123         0              0              0              Floor|+00.00|
  14  CellPhone       0.491          0.221          -1.600         0              270            0              44
  15  Pencil          -2.212         0.062          -1.703         0              77.664         0              28
  16  AlarmClock      -0.401         0.972          -1.557         0              270            0              37
  17  TeddyBear       -2.236         0.000          1.457          0              319.128        0              Floor|+00.00|
  18  CreditCard      2.290          0.470          1.332          0              0              0              35
  19  KeyChain        0.000          0.971          -1.778         0              270            0              37
  20  Pillow          2.11           0.422          0.331          0              270            0              47
  21  Pillow          2.15           0.433          -0.241         0              282.078        0              47
  22  Laptop          1.640          0.413          -0.247         0              0              0              47
  23  Bowl            -0.200         0.972          -1.778         0              270            0              37
  24  Cloth           -1.288         0.000          -1.936         0              357.341        356.936        Floor|+00.00|
  25  CD              2.160          0.569          1.240          0              180            0              35
  26  Pen             -0.602         0.977          -1.557         0              270            0              37
  27  DeskLamp        2.302          0.561          1.435          0              315            0
  28  GarbageCan      -2.208         -0.023         -1.742         0              77.663         0
  29  Poster          2.439          1.508          0.014          90             270            0
  30  LightSwitch     -2.457         1.274          -0.096         0              90             0
  31  Mirror          2.454          1.322          -1.414         0              90             0
  32  Window          -1.440         1.815          -2.354         90             0              0
  33  Window          1.401          1.815          -2.354         90             0              0
  34  Drawer          2.251          0.468          1.333          0              270            0
  35  SideTable       2.243          -0.001         1.331          0              270            0
  36  Drawer          -0.385         0.681          -1.631         0              0              0
  37  Dresser         0.011          0.001          -1.676         0              0              0
  38  Drawer          -0.385         0.105          -1.631         0              0              0
  39  Drawer          0.408          0.868          -1.632         0              0              0
  40  Drawer          -0.385         0.487          -1.631         0              0              0
  41  Drawer          -0.385         0.868          -1.632         0              0              0
  42  Drawer          0.408          0.681          -1.631         0              0              0
  43  Drawer          0.408          0.105          -1.631         0              0              0
  44  Drawer          0.408          0.292          -1.631         0              0              0
  45  Drawer          -0.385         0.292          -1.631         0              0              0
  46  Drawer          0.408          0.487          -1.631         0              0              0
  47  Bed             1.377          0.004          0.072          0              90             0
  48  Blinds          1.422          3.115          -2.339         0              0              0
  49  Blinds          -1.422         3.115          -2.339         0              0              0
  50  Safe            1.640          0.000          -2.040         0              355.244        0
  51  LaundryHamper   -1.564         0.001          -1.927         0              45             0
  52  NorthWall
  53  EastWall
  54  SouthWall
  55  WestWall

Plan:
STEP 1: Turn around, then go straight, toward the end table. | STEP 2: Pick up the CD on the end table. | STEP 3: Turn around, turn left at the end of the bed, turn left at the other end of the bed, then turn right to face the safe. | STEP 4: Put the CD in the safe, to the left of the keys. | STEP 5: Turn around, go past the dresser, then turn left to face the window, then turn left. | STEP 6: Pick up the CD on the dresser, near the clock. | STEP 7: Turn around, turn right, then turn right to face the safe. | STEP 8: Put the CD in the safe, to the right of the other CD. | END