Task: move the disc from on the table to the shelf underneath

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.25           0.899          -0.5           0              0              0
   1  Bowl            0.954          1.413          -2.586         0              270            0              49
   2  Watch           -1.574         0.338          0.414          0              90             0              64
   3  Watch           -1.471         0.338          0.328          0              0              0              64
   4  CD              1.729          0.037          -2.795         0              59.999         0              38
   5  CD              -1.522         0.613          0.462          0              180            0              66
   6  CD              -1.731         0.613          0.503          0              180            0              66
   7  Pen             -1.383         0.619          0.381          0              180            0              66
   8  CreditCard      -1.420         0.075          0.393          0              0              0              65
   9  CreditCard      2.962          0.791          -1.403         0              0              0              62
  10  Book            -1.088         0.614          0.245          0              0              0              35
  11  AlarmClock      3.086          0.794          -1.968         0              0              0              62
  12  Laptop          -2.307         0.598          -0.879         0              0              0              34
  13  Book            3.18           0.785          -1.541         0              21.311         0              62
  14  Laptop          -2.307         0.598          -1.442         0              0              0              34
  15  KeyChain        2.970          0.542          -0.495         0              270            0              60
  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          -0.936         0.693          -1.160         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          -2.916         1.418          -2.133         0              90             0              42
  23  CreditCard      3.086          0.791          -0.556         0              0              0              62
  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             -2.948         1.147          -2.197         0              90             0              42
  27  Cloth           0.705          -0.001         -2.75          0              270            0
  28  AlarmClock      3.024          0.792          -2.250         0              0              0              62
  29  Watch           3.332          0.791          -2.250         0              0              0              62
  30  CellPhone       3.209          0.791          -0.838         0              0              0              62
  31  CD              2.962          0.791          -0.556         0              0              0              60
  32  Mug             0.954          1.411          -1.607         0              270            0              47
  33  Bowl            3.024          0.792          -1.121         0              0              0              62
  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 right, walk to the table | STEP 2: grab the disc on the table | STEP 3: step back from the table a little  | STEP 4: put the disc on the shelf in the table | END