Task: Move two CDs to the drawer shelf below the desk.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.899          -2.25          0              180            0
   1  Mug             0.922          1.139          -1.791         0              0              0              39
   2  Mug             3.147          0.790          -1.121         0              0              0              62
   3  Watch           2.962          0.791          -0.838         0              0              0              62
   4  CD              2.962          0.792          -1.968         0              0              0              62
   5  CellPhone       -1.453         0.614          0.381          0              180            0              66
   6  Pen             0.922          1.419          -2.283         0              270            0              41
   7  Pencil          -1.662         0.619          0.462          0              180            0              66
   8  KeyChain        3.209          0.794          -1.968         0              90             0              62
   9  KeyChain        3.017          0.542          -0.721         0              90             0              60
  10  Book            -1.088         0.614          -0.317         0              0              0              35
  11  Book            -0.327         0.614          -0.317         0              0              0              35
  12  AlarmClock      0.891          1.142          -2.720         0              270            0              44
  13  Book            -2.307         0.599          -0.598         0              0              0              34
  14  Laptop          -2.46          0.598          -1.160         0              0              0              34
  15  KeyChain        -1.471         0.339          0.393          0              0              0              64
  16  Cloth           0.970          -0.001         -2.404         0              0              0
  17  BaseballBat     -2.982         0.015          -2.698         270            350.597        0
  18  BasketBall      -2.718         0.118          -1.925         0              0              0
  19  Pillow          -0.784         0.693          -1.442         0              0              0              35
  20  Pillow          -0.626         0.650          0.129          0              0              0              35
  21  TennisRacket    -3.018         0.301          -2.199         19.103         272.232        184.978
  22  Pencil          -1.662         0.619          0.340          0              180            0              66
  23  CreditCard      2.993          0.540          -0.495         0              270            0              60
  24  Cloth           0.911          0.025          -2.702         0              0              0
  25  TeddyBear       -2.645         0.624          -0.402         0              286.876        0              34
  26  Pen             -2.853         1.419          -2.197         0              90             0              42
  27  Cloth           0.705          -0.001         -2.75          0              270            0
  28  AlarmClock      3.024          0.794          -0.556         0              0              0              62
  29  Watch           3.209          0.793          -1.403         0              0              0              62
  30  CellPhone       -1.314         0.614          0.462          0              180            0              66
  31  CD              3.024          0.791          -1.686         0              0              0              62
  32  Mug             0.922          1.139          -2.519         0              270            0              44
  33  Bowl            -2.916         1.141          -2.261         0              90             0              42
  34  Bed             -2.455         -0.000         -0.572         0              0              0
  35  Bed             -0.634         -0.000         -0.567         0              0              0
  36  Chair           2.828          -0.002         -0.004         0              245.795        0
  37  Chair           2.727          -0.002         -1.210         0              95.225         0
  38  GarbageCan      1.707          -0.003         -2.785         0              59.967         0
  39  Shelf           0.922          1.133          -2.163         0              270            0
  40  Shelf           -2.948         1.405          -1.621         0              90             0
  41  Shelf           0.922          1.405          -2.163         0              270            0
  42  Shelf           -2.948         1.133          -2.188         0              90             0
  43  Shelf           -2.948         1.405          -2.188         0              90             0
  44  Shelf           0.922          1.133          -2.729         0              270            0
  45  Shelf           0.922          1.133          -1.616         0              270            0
  46  Shelf           -2.948         1.405          -2.735         0              90             0
  47  Shelf           0.922          1.405          -1.616         0              270            0
  48  Shelf           -2.948         1.133          -2.735         0              90             0
  49  Shelf           0.922          1.405          -2.729         0              270            0
  50  Shelf           -2.948         1.133          -1.621         0              90             0
  51  LightSwitch     -0.142         1.328          0.600          0              180            0
  52  Poster          3.400          1.863          -1.976         90             90             0
  53  Poster          3.400          1.702          -0.792         90             90             0
  54  DeskLamp        3.126          0.789          -0.638         0              3.649          0
  55  Mirror          0.453          1.491          0.616          0              0              0
  56  Window          2.278          0.925          -3.184         90             0              0
  57  Window          -1.019         0.925          -3.184         90             0              0
  58  Blinds          -1.003         2.072          -3.177         0              0              0
  59  Blinds          2.292          2.072          -3.177         0              0              0
  60  Shelf           3.124          0.633          -0.564         0              270            0
  61  Shelf           3.124          0.633          -2.267         0              270            0
  62  Desk            3.141          -0.000         -1.414         0              270            0
  63  Desktop         3.101          0.792          -1.236         358.565        270            0
  64  Drawer          -1.523         0.408          0.346          0              180            0
  65  Drawer          -1.523         0.141          0.346          0              180            0
  66  SideTable       -1.522         -0.001         0.411          0              180            0
  67  NorthWall
  68  EastWall
  69  SouthWall
  70  WestWall

Plan:
STEP 1: Turn around and go past and bed and around the book shelf to the front of the desk. | STEP 2: Pick up the CD on the edge of the desk and in front of the keys. | STEP 3: Move over right to the front of the the drawer below the desk. | STEP 4: Place the CD on the shelf below the desk. | STEP 5: Move back left to the front side of the desk with the CD on top. | STEP 6: Pick up the CD on the desk.  | STEP 7: Move back right to the front of the drawers. | STEP 8: Place the CD on the shelf below the desk on the right of the first CD | END