Task: Put the CD into 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           -2.0           0.901          0.25           0              0              0
   1  CD              0.677          0.216          -1.487         0              270            0              45
   2  CD              0.583          0.409          -1.769         0              270            0              47
   3  CellPhone       2.135          0.418          0.252          0              0              0              48
   4  CellPhone       -0.117         0.413          -1.712         0              270            0              41
   5  CreditCard      -0.401         0.972          -1.484         0              270            0              38
   6  CreditCard      0.402          0.972          -1.557         0              270            0              38
   7  KeyChain        0.604          0.973          -1.631         0              270            0              38
   8  KeyChain        2.068          0.573          1.512          0              270            0              36
   9  Book            -0.487         0.038          -1.655         0              270            0              39
  10  Pillow          1.640          0.477          -0.080         0              0              0              48
  11  Laptop          0.897          0.413          -0.080         0              0              0              48
  12  Box             -1.751         0.252          1.499          0              340.773        0              Floor|+00.00|
  13  Book            0.305          0.607          -1.712         0              270            0              43
  14  Cloth           -1.146         0.000          -2.123         0              0              0              Floor|+00.00|
  15  CellPhone       0.000          0.975          -1.484         0              270            0              38
  16  Pencil          -0.303         0.609          -1.712         0              270            0              37
  17  AlarmClock      2.153          0.565          1.23           0              213.033        0              36
  18  TeddyBear       -2.236         0.000          1.457          0              319.128        0              Floor|+00.00|
  19  CreditCard      2.344          0.572          1.294          0              180            0              36
  20  KeyChain        -0.581         0.801          -1.655         0              270            0              42
  21  Pillow          1.640          0.477          0.419          0              0              0              48
  22  Pillow          2.15           0.433          -0.241         0              282.078        0              48
  23  Laptop          -0.5           0.965          -1.715         0              24.156         0              38
  24  Bowl            0.000          0.972          -1.852         0              270            0              38
  25  Cloth           -1.288         0.000          -1.936         0              357.341        356.936        Floor|+00.00|
  26  CD              -0.581         0.035          -1.768         0              270            0              39
  27  Pen             0.604          0.977          -1.557         0              270            0              38
  28  DeskLamp        2.302          0.561          1.435          0              315            0
  29  GarbageCan      -2.208         -0.023         -1.742         0              77.663         0
  30  Poster          2.439          1.508          0.014          90             270            0
  31  LightSwitch     -2.457         1.274          -0.096         0              90             0
  32  Mirror          2.454          1.322          -1.414         0              90             0
  33  Window          -1.440         1.815          -2.354         90             0              0
  34  Window          1.401          1.815          -2.354         90             0              0
  35  Drawer          2.251          0.468          1.333          0              270            0
  36  SideTable       2.243          -0.001         1.331          0              270            0
  37  Drawer          -0.385         0.681          -1.631         0              0              0
  38  Dresser         0.011          0.001          -1.676         0              0              0
  39  Drawer          -0.385         0.105          -1.631         0              0              0
  40  Drawer          0.408          0.868          -1.632         0              0              0
  41  Drawer          -0.385         0.487          -1.631         0              0              0
  42  Drawer          -0.385         0.868          -1.632         0              0              0
  43  Drawer          0.408          0.681          -1.631         0              0              0
  44  Drawer          0.408          0.105          -1.631         0              0              0
  45  Drawer          0.408          0.292          -1.631         0              0              0
  46  Drawer          -0.385         0.292          -1.631         0              0              0
  47  Drawer          0.408          0.487          -1.631         0              0              0
  48  Bed             1.377          0.004          0.072          0              90             0
  49  Blinds          1.422          3.115          -2.339         0              0              0
  50  Blinds          -1.422         3.115          -2.339         0              0              0
  51  Safe            1.640          0.000          -2.040         0              355.244        0
  52  LaundryHamper   -1.564         0.001          -1.927         0              45             0
  53  NorthWall
  54  EastWall
  55  SouthWall
  56  WestWall

Plan:
STEP 1: Turn around and walk past the right side of the bed to the left side of the wooden dresser | STEP 2: Open the 4th drawer down on the left side and pick up the CD | STEP 3: Turn left toward the mirror and walk to the small white safe next to the dresser | STEP 4: Open the safe and put the CD inside | END