Task: Put a cd on the shelf

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.902          -0.75          0              0              0
   1  Statue          0.418          0.838          -2.414         0              0              0              38
   2  CellPhone       2.461          0.354          0.356          0              90             0              47
   3  CellPhone       2.703          0.821          0.623          0              270            0              54
   4  Pen             2.394          0.825          0.054          0              270            0              54
   5  Pencil          2.554          0.679          0.046          0              0              0              54
   6  CreditCard      2.601          0.191          -0.390         0              0              0              51
   7  Book            0.176          0.730          1.232          0              0              0              24
   8  Book            2.554          0.354          0.618          0              0              0              47
   9  AlarmClock      2.579          0.819          0.623          0              270            0              54
  10  Box             0.252          0.227          -2.042         0              29.078         0
  11  Book            0.369          0.730          0.172          0              0              0              24
  12  Statue          2.579          0.825          0.054          0              270            0              54
  13  CellPhone       2.601          0.192          -0.041         0              0              0              51
  14  Pillow          0.148          0.744          1.738          0              195.270        0              24
  15  Pillow          -0.595         0.809          0.437          0              0              0              24
  16  BasketBall      -1.231         0.121          -0.18          0              0              0
  17  CreditCard      2.414          0.675          0.444          0              0              0              48
  18  KeyChain        -0.359         0.047          -1.696         0              0              0              37
  19  Pencil          -1.283         0.055          -0.942         0              0              0              26
  20  AlarmClock      -0.904         0.708          -1.724         0              0              0              34
  21  Laptop          -0.209         0.729          1.232          0              0              0              24
  22  CD              2.394          0.819          -0.134         0              270            0              54
  23  Pen             2.641          0.820          0.812          0              90             0              54
  24  Bed             -0.209         -0.001         0.983          0              0              0
  25  LightSwitch     0.778          1.266          2.128          0              180            0
  26  GarbageCan      -1.357         -0.020         -0.928         0              0              0
  27  Painting        2.063          1.674          -1.865         83.723         0              0
  28  HousePlant      -0.808         0.953          -1.730         0              0              0
  29  Painting        1.871          0.393          -1.792         79.235         0              0
  30  Mirror          2.842          1.404          1.375          0              90             0
  31  DeskLamp        2.676          0.819          0.878          0              0              0
  32  Window          -1.700         1.444          -0.542         90             90             0
  33  Window          0.535          1.412          -2.618         90             0              0
  34  Shelf           -0.904         0.824          -1.754         0              0              0
  35  Shelf           -0.802         0.981          -1.756         0              0              0
  36  Shelf           -0.904         0.555          -1.754         0              0              0
  37  Shelf           -0.327         0.225          -1.754         0              0              0
  38  Shelf           -0.439         0.822          -1.754         0              0              0
  39  Shelf           -0.619         0.981          -1.754         0              0              0
  40  Shelf           -0.439         0.556          -1.754         0              0              0
  41  Shelf           -0.709         0.225          -1.754         0              0              0
  42  ShelvingUnit    -0.641         0.006          -1.745         0              0              0
  43  Stool           0.799          0.004          -2.105         0              0              0
  44  Blinds          0.542          2.135          -2.553         0              0              0
  45  Blinds          -1.645         2.145          -0.546         0              90             0
  46  Drawer          2.518          0.574          0.623          0              270            0
  47  Drawer          2.517          0.411          0.623          0              270            0
  48  Drawer          2.518          0.732          0.623          0              270            0
  49  Drawer          2.518          0.732          -0.119         0              270            0
  50  Drawer          2.517          0.411          -0.119         0              270            0
  51  Drawer          2.517          0.247          -0.119         0              270            0
  52  Drawer          2.517          0.090          0.623          0              270            0
  53  Drawer          2.517          0.247          0.623          0              270            0
  54  Dresser         2.555          0.003          0.252          0              270            0
  55  Drawer          2.518          0.574          -0.119         0              270            0
  56  Drawer          2.517          0.090          -0.119         0              270            0
  57  NorthWall
  58  EastWall
  59  SouthWall
  60  WestWall

Plan:
STEP 1: Turn right, go to the front of the dresser | STEP 2: Pick up the cd on the dresser | STEP 3: Turn around, go forward, turn left in front of the shelf | STEP 4: Put the cd on the bottom shelf | END