Task: Place the disc on the desk onto the dresser beside the book.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.901          0.5            0              180            0
   1  CD              2.003          0.726          -0.010         0              270            0              54
   2  Pen             1.710          0.732          -0.748         0              270            0              54
   3  Pen             -0.589         0.290          2.794          0              0              0              41
   4  Pencil          1.662          0.526          -0.778         0              90             0              52
   5  Laptop          -0.513         0.675          2.177          0              90             0              30
   6  AlarmClock      -0.855         0.669          3.162          0              90             0              40
   7  Pillow          -0.632         1.922          1.631          0              0              0              49
   8  Book            -0.867         1.504          -0.273         0              0              0              44
   9  Box             -0.493         0.2            -0.286         0              84.024         0
  10  TennisRacket    -1.345         0.288          0.233          30.000         270            180
  11  Pen             1.662          0.527          -0.316         0              90             0              53
  12  AlarmClock      -0.584         0.979          -1.416         0              0              0              45
  13  Pillow          -0.63          1.871          3.047          0              0              0              49
  14  Pillow          -1.002         1.585          -0.942         0              0              0              44
  15  CellPhone       -0.961         0.679          1.991          0              90             0              30
  16  KeyChain        1.807          0.727          -0.256         0              270            0              54
  17  CreditCard      1.807          0.726          -0.010         0              270            0              54
  18  CD              2.100          0.726          -0.748         0              270            0              54
  19  Pencil          -0.637         0.068          2.877          0              0              0              38
  20  Laptop          -0.632         1.835          2.197          0              0              0              49
  21  Mug             -0.574         0.667          3.075          0              90             0              40
  22  DeskLamp        2.016          0.701          0.708          0              0              0
  23  Painting        2.199          1.771          -0.101         90             270            0
  24  GarbageCan      2.022          -0.037         -1.239         0              270            0
  25  Mirror          2.229          1.254          2.664          0              90             0
  26  LightSwitch     2.199          1.258          1.988          0              270            0
  27  Window          1.575          1.559          -1.953         90             180            0
  28  Drawer          -0.551         0.578          2.246          0              90             0
  29  Cabinet         -0.649         0.270          2.247          0              90             0
  30  Desk            -0.655         0.006          1.814          0              90             0
  31  Shelf           1.769          0.184          0.757          0              270            0
  32  Shelf           1.769          0.572          0.757          0              270            0
  33  Shelf           1.769          0.572          0.935          0              270            0
  34  Shelf           1.769          0.378          0.935          0              270            0
  35  Shelf           1.769          0.378          0.757          0              270            0
  36  Shelf           1.769          0.184          0.935          0              270            0
  37  Blinds          1.547          2.434          -1.886         0              0              0
  38  Drawer          -0.553         0.155          2.942          0              90             0
  39  Drawer          -0.553         0.572          2.942          0              90             0
  40  Dresser         -0.665         0.001          2.939          0              90             0
  41  Drawer          -0.553         0.376          2.942          0              90             0
  42  Chair           1.482          0.012          0.223          0              77.085         0
  43  Chair           -0.199         0.012          1.538          0              287.086        0
  44  Bed             -0.866         0.007          -0.919         0              0              0
  45  Dresser         -0.772         0.001          -1.313         0              90             0
  46  Drawer          -0.660         0.830          -1.309         0              90             0
  47  Drawer          -0.660         0.225          -1.309         0              90             0
  48  Drawer          -0.660         0.547          -1.309         0              90             0
  49  Bed             -0.872         1.637          2.188          0              0              0
  50  Drawer          1.685          0.160          -0.805         0              270            0
  51  Drawer          1.685          0.160          -0.378         0              270            0
  52  Drawer          1.685          0.547          -0.805         0              270            0
  53  Drawer          1.685          0.547          -0.378         0              270            0
  54  Desk            1.812          0.003          -0.014         0              270            0
  55  Drawer          1.685          0.354          -0.805         0              270            0
  56  Drawer          1.685          0.354          -0.378         0              270            0
  57  ArmChair        1.712          -0.000         1.532          0              270            0
  58  NorthWall
  59  EastWall
  60  SouthWall
  61  WestWall

Plan:
STEP 1: Go across the room to the right side of the desk where there is a trash can. | STEP 2: Pick up the disc from the desk. | STEP 3: Go across the room to the dresser with 3 drawers. | STEP 4: Place the disc on top of the dresser with 3 drawers beside the book. | END