Task: Place a CD on a bookshelf.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.900          -1.25          0              180            0
   1  Statue          -1.657         0.982          -0.138         0              90             0              47
   2  CellPhone       1.02           0.775          0.188          0              0              0              29
   3  Pen             -1.668         1.152          -2.415         0              90             0              42
   4  Pen             1.498          0.686          2.082          0              0              0              57
   5  Pencil          -1.607         0.042          0.069          0              0              0              46
   6  CreditCard      -1.762         1.637          -2.415         0              90             0              41
   7  KeyChain        -1.730         1.147          -2.073         0              90             0              42
   8  Book            -1.583         0.971          0.263          0              0              0              47
   9  Book            -1.720         0.217          -0.350         0              180            0              55
  10  AlarmClock      -1.583         0.972          0.062          0              0              0              47
  11  AlarmClock      -1.730         0.972          0.062          0              0              0              47
  12  Pillow          0.296          0.836          -0.990         0              0              0              29
  13  Book            1.731          0.680          2.262          0              0              0              57
  14  KeyChain        -1.608         0.411          -0.721         0              0              0              53
  15  AlarmClock      -1.636         1.146          -1.959         0              90             0              42
  16  Pillow          1.413          0.794          -1.505         0              0              0              29
  17  Pillow          2.410          0.513          1.841          0              90             0              63
  18  Vase            -1.509         0.971          -0.339         0              0              0              47
  19  Laptop          1.502          0.773          -0.401         0              0              0              29
  20  Vase            -1.650         1.626          -2.316         0              0              0              41
  21  Pencil          2.437          0.686          -1.671         0              0              0              60
  22  CreditCard      2.360          0.680          -1.671         0              0              0              60
  23  Boots           -1.842         0.000          -1.077         0              135            0
  24  Pen             -1.605         1.152          -2.073         0              90             0              42
  25  CellPhone       1.743          0.775          -0.695         0              0              0              29
  26  CD              -1.509         0.970          -0.742         0              0              0              47
  27  Bowl            -1.699         1.637          -2.073         0              90             0              41
  28  Statue          -1.509         0.980          -0.742         0              0              0              47
  29  Bed             1.017          0.003          -0.686         0              180            0
  30  HousePlant      -1.749         0.971          0.463          0              0              0
  31  GarbageCan      -1.665         -0.000         0.953          0              45             0
  32  Painting        0.381          1.976          -1.895         90             0              0
  33  Painting        0.879          1.976          -1.895         90             0              0
  34  Painting        1.373          1.976          -1.895         90             0              0
  35  LightSwitch     -0.164         1.085          2.450          0              180            0
  36  Mirror          -1.950         1.735          -0.206         0              270            0
  37  Window          -1.098         1.570          -3.230         90             0              0
  38  DeskLamp        1.404          0.668          2.209          0              0              0
  39  DeskLamp        2.596          0.668          -1.710         0              0              0
  40  Blinds          -1.062         2.361          -3.173         0              0              0
  41  Shelf           -1.675         1.871          -2.053         0              90             0
  42  Shelf           -1.675         1.383          -2.053         0              90             0
  43  Drawer          -1.715         0.832          -2.053         0              90             0
  44  ShelvingUnit    -1.723         0.007          -2.053         0              90             0
  45  Drawer          -1.713         0.339          -2.053         0              90             0
  46  Drawer          -1.629         0.104          0.243          0              90             0
  47  Dresser         -1.674         0.000          -0.153         0              90             0
  48  Drawer          -1.630         0.868          -0.550         0              90             0
  49  Drawer          -1.630         0.680          0.243          0              90             0
  50  Drawer          -1.629         0.104          -0.550         0              90             0
  51  Drawer          -1.630         0.680          -0.550         0              90             0
  52  Drawer          -1.630         0.868          0.243          0              90             0
  53  Drawer          -1.629         0.486          -0.550         0              90             0
  54  Drawer          -1.629         0.291          0.243          0              90             0
  55  Drawer          -1.629         0.291          -0.550         0              90             0
  56  Drawer          -1.630         0.486          0.243          0              90             0
  57  SideTable       1.576          -0.001         2.137          0              180            0
  58  Drawer          1.576          0.163          2.070          0              180            0
  59  Drawer          1.576          0.455          2.070          0              180            0
  60  SideTable       2.437          -0.001         -1.603         0              0              0
  61  Drawer          2.438          0.163          -1.536         0              0              0
  62  Drawer          2.438          0.455          -1.536         0              0              0
  63  ArmChair        2.393          -0.001         1.943          0              180            0
  64  NorthWall
  65  EastWall
  66  SouthWall
  67  WestWall

Plan:
STEP 1: Turn right and move toward the boots on the ground then turn right and face the dresser. | STEP 2: Pick up the CD that is underneath the gold toy dog on the dresser. | STEP 3: Turn around and move towards the window and then turn right and face the bookshelf. | STEP 4: Place the CD between the two pens on the bookshelf and to the left of the keys. | END