Task: put a CD inside of 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           -0.5           0.900          -0.75          0              270            0
   1  Mug             2.384          0.894          -3.389         0              0              0              39
   2  CD              -2.439         0.680          -0.359         0              90             0              48
   3  CD              1.344          0.019          -3.407         0              0              0              30
   4  CellPhone       2.211          0.896          -3.113         0              0              0              39
   5  Pen             -2.575         0.686          -0.359         0              90             0              48
   6  Pen             2.779          1.234          1.168          0              270            0              46
   7  Pencil          2.556          0.901          -3.182         0              0              0              39
   8  AlarmClock      2.728          0.900          -3.044         0              0              0              39
   9  AlarmClock      2.039          0.900          -3.044         0              0              0              39
  10  Laptop          -2.440         0.617          -1.861         0              0              0              26
  11  Laptop          -1.591         0.617          -2.461         0              0              0              26
  12  Book            2.685          1.227          1.397          0              270            0              46
  13  CreditCard      2.211          0.896          -3.389         0              0              0              39
  14  Pen             2.591          1.234          1.283          0              90             0              46
  15  Pencil          -2.484         0.685          -3.15          0              90             0              41
  16  TeddyBear       -0.667         0.612          -1.364         0              81.467         0              26
  17  Laptop          -1.874         0.617          -2.061         0              0              0              26
  18  AlarmClock      -2.530         0.684          -3.227         0              90             0              41
  19  CellPhone       1.861          0.643          -3.100         0              0              0              37
  20  KeyChain        2.608          0.371          1.342          0              270            0              45
  21  Pillow          -0.742         0.680          -1.861         0              0              0              26
  22  Pillow          -1.025         0.680          -2.261         0              0              0              26
  23  CD              2.556          0.896          -2.975         0              0              0              39
  24  Mug             -2.439         0.679          -2.917         0              90             0              41
  25  Bowl            1.840          0.889          -3.239         0              0              0              39
  26  Bed             -1.613         -0.028         -1.861         0              270            0
  27  DeskLamp        2.760          0.890          -3.317         0              90             0
  28  DeskLamp        -2.459         0.668          -0.532         0              90             0
  29  LightSwitch     -0.700         1.016          0.334          0              90             0
  30  GarbageCan      1.343          1.087          -3.374         0              0              0
  31  Mirror          0.532          1.419          2.0            0              0              0
  32  Window          -0.834         1.394          -3.653         90             0              0
  33  Window          2.958          1.508          -1.019         90             270            0
  34  Sofa            2.383          0.008          -0.288         0              270            0
  35  Safe            2.721          1.228          1.784          0              270            0
  36  Drawer          1.979          0.486          -2.988         0              0              0
  37  Drawer          1.979          0.728          -2.988         0              0              0
  38  Drawer          1.979          0.208          -2.988         0              0              0
  39  Desk            2.318          -0.009         -3.214         0              0              0
  40  Drawer          -2.349         0.163          -3.150         0              90             0
  41  SideTable       -2.416         -0.001         -3.149         0              90             0
  42  Drawer          -2.349         0.455          -3.150         0              90             0
  43  Drawer          2.641          0.172          1.511          0              270            0
  44  Drawer          2.641          1.002          1.511          0              270            0
  45  Drawer          2.641          0.448          1.511          0              270            0
  46  Dresser         2.676          0.002          1.511          0              270            0
  47  Drawer          2.641          0.725          1.511          0              270            0
  48  SideTable       -2.416         -0.001         -0.514         0              90             0
  49  Drawer          -2.349         0.163          -0.514         0              90             0
  50  Drawer          -2.349         0.455          -0.514         0              90             0
  51  Blinds          -0.800         2.087          -3.627         0              0              0
  52  Blinds          2.931          2.166          -1.0           0              270            0
  53  Chair           2.574          0.002          -2.881         0              175.162        0
  54  NorthWall
  55  EastWall
  56  SouthWall
  57  WestWall

Plan:
STEP 1: turn around and move forward, going towards to sofa and at the sofa, turn right | STEP 2: move forward towards the desk and pick up the CD that is sitting on the desk in front of the chair | STEP 3: turn around and move forward, passing the sofa on the right side and at the end of the sofa turn right and move to face the dresser on the left side of the sofa | STEP 4: open the door to the white safe on the left side of the dresser put the CD into the safe and close the door | END