Task: move CD to 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           2.0            0.899          -2.0           0              90             0
   1  Mug             3.332          0.789          -1.121         0              0              0              67
   2  Bowl            0.954          1.413          -1.485         0              270            0              52
   3  Bowl            -1.383         0.613          0.462          0              180            0              71
   4  Watch           -1.471         0.075          0.371          0              0              0              70
   5  CD              -1.574         0.074          0.371          0              0              0              70
   6  CD              3.147          0.791          -2.250         0              0              0              67
   7  CellPhone       2.962          0.792          -0.838         0              0              0              67
   8  Pen             -1.453         0.619          0.300          0              180            0              71
   9  Pen             1.715          0.043          -2.770         0              59.999         0              43
  10  CreditCard      3.024          0.792          -1.121         0              0              0              67
  11  CreditCard      -2.853         1.413          -1.430         0              90             0              48
  12  KeyChain        3.147          0.794          -1.403         0              0              0              67
  13  Book            -2.155         0.599          -0.035         0              0              0              39
  14  Book            -0.327         0.614          -0.317         0              0              0              40
  15  AlarmClock      3.271          0.792          -1.968         0              0              0              67
  16  AlarmClock      3.024          0.792          -0.556         0              0              0              67
  17  Pillow          -0.936         0.693          -0.035         0              0              0              40
  18  Book            -0.936         0.614          -1.160         0              0              0              40
  19  Laptop          -0.479         0.614          -1.160         0              0              0              40
  20  KeyChain        -2.853         1.143          -2.390         0              90             0              47
  21  Cloth           0.970          -0.001         -2.404         0              0              0
  22  BaseballBat     -2.982         0.015          -2.698         270            350.597        0
  23  BasketBall      -2.718         0.118          -1.925         0              0              0
  24  Pillow          -2.46          0.678          -1.442         0              0              0              39
  25  Pillow          -2.155         0.678          -0.879         0              0              0              39
  26  TennisRacket    -3.018         0.301          -2.199         19.103         272.232        184.978
  27  Pencil          3.147          0.798          -1.968         0              0              0              67
  28  CreditCard      -2.885         1.141          -2.133         0              90             0              47
  29  Cloth           0.911          0.025          -2.702         0              0              0
  30  TeddyBear       -2.645         0.624          -0.402         0              286.876        0              39
  31  Pen             -1.662         0.619          0.340          0              180            0              71
  32  Cloth           0.705          -0.001         -2.75          0              270            0
  33  AlarmClock      3.024          0.794          -1.968         0              0              0              67
  34  Watch           3.332          0.793          -1.686         0              0              0              67
  35  CellPhone       -2.916         0.600          -0.035         0              0              0              39
  36  CD              3.086          0.791          -0.838         0              0              0              67
  37  Mug             3.024          0.789          -1.686         0              0              0              67
  38  Bowl            -1.662         0.613          0.462          0              180            0              71
  39  Bed             -2.455         -0.000         -0.572         0              0              0
  40  Bed             -0.634         -0.000         -0.567         0              0              0
  41  Chair           2.828          -0.002         -0.004         0              245.795        0
  42  Chair           2.727          -0.002         -1.210         0              95.225         0
  43  GarbageCan      1.707          -0.003         -2.785         0              59.967         0
  44  Shelf           0.922          1.133          -2.163         0              270            0
  45  Shelf           -2.948         1.405          -1.621         0              90             0
  46  Shelf           0.922          1.405          -2.163         0              270            0
  47  Shelf           -2.948         1.133          -2.188         0              90             0
  48  Shelf           -2.948         1.405          -2.188         0              90             0
  49  Shelf           0.922          1.133          -2.729         0              270            0
  50  Shelf           0.922          1.133          -1.616         0              270            0
  51  Shelf           -2.948         1.405          -2.735         0              90             0
  52  Shelf           0.922          1.405          -1.616         0              270            0
  53  Shelf           -2.948         1.133          -2.735         0              90             0
  54  Shelf           0.922          1.405          -2.729         0              270            0
  55  Shelf           -2.948         1.133          -1.621         0              90             0
  56  LightSwitch     -0.142         1.328          0.600          0              180            0
  57  Poster          3.400          1.863          -1.976         90             90             0
  58  Poster          3.400          1.702          -0.792         90             90             0
  59  DeskLamp        3.126          0.789          -0.638         0              3.649          0
  60  Mirror          0.453          1.491          0.616          0              0              0
  61  Window          2.278          0.925          -3.184         90             0              0
  62  Window          -1.019         0.925          -3.184         90             0              0
  63  Blinds          -1.003         2.072          -3.177         0              0              0
  64  Blinds          2.292          2.072          -3.177         0              0              0
  65  Shelf           3.124          0.633          -0.564         0              270            0
  66  Shelf           3.124          0.633          -2.267         0              270            0
  67  Desk            3.141          -0.000         -1.414         0              270            0
  68  Desktop         3.101          0.792          -1.236         358.565        270            0
  69  Drawer          -1.523         0.408          0.346          0              180            0
  70  Drawer          -1.523         0.141          0.346          0              180            0
  71  SideTable       -1.522         -0.001         0.411          0              180            0
  72  NorthWall
  73  EastWall
  74  SouthWall
  75  WestWall

Plan:
STEP 1: turn left, walk forward, turn right, walk towards desk | STEP 2: pick up CD that is on the desk | STEP 3: take a few steps to the left | STEP 4: put CD on the shelf under left side of desk | END