Task: Put the CD on the upper shelf

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           0.900          0.25           0              180            0
   1  Statue          -1.583         0.982          -0.742         0              0              0              42
   2  CD              -1.583         0.971          0.464          0              0              0              42
   3  CellPhone       -1.730         0.971          -0.339         0              0              0              42
   4  CellPhone       -1.552         0.606          0.535          0              0              0              44
   5  Pen             -1.668         1.152          -2.415         0              90             0              37
   6  AlarmClock      -1.730         1.146          -1.959         0              90             0              37
   7  AlarmClock      1.653          0.680          2.082          0              0              0              52
   8  Book            1.743          0.774          0.188          0              0              0              24
   9  KeyChain        1.653          0.682          2.308          0              0              0              52
  10  AlarmClock      -1.699         1.637          -2.073         0              90             0              36
  11  Pillow          1.02           0.836          -0.990         0              0              0              24
  12  Pillow          0.652          0.794          -1.531         0              0              0              24
  13  Vase            -1.509         0.973          -0.339         0              0              0              42
  14  Laptop          1.502          0.773          0.188          0              270            0              24
  15  Vase            -1.650         1.626          -2.316         0              0              0              36
  16  Pencil          -1.509         0.976          -0.742         0              0              0              42
  17  CreditCard      2.360          0.680          -1.536         0              0              0              55
  18  Boots           -1.842         0.000          -1.077         0              135            0
  19  Pen             -1.608         0.611          0.257          0              0              0              51
  20  CellPhone       -1.436         0.971          -0.138         0              0              0              42
  21  CD              -1.730         0.970          -0.540         0              0              0              42
  22  Bowl            -1.804         0.972          0.062          0              0              0              42
  23  Statue          2.360          0.691          -1.717         0              0              0              55
  24  Bed             1.017          0.003          -0.686         0              180            0
  25  HousePlant      -1.749         0.971          0.463          0              0              0
  26  GarbageCan      -1.665         -0.000         0.953          0              45             0
  27  Painting        0.381          1.976          -1.895         90             0              0
  28  Painting        0.879          1.976          -1.895         90             0              0
  29  Painting        1.373          1.976          -1.895         90             0              0
  30  LightSwitch     -0.164         1.085          2.450          0              180            0
  31  Mirror          -1.950         1.735          -0.206         0              270            0
  32  Window          -1.098         1.570          -3.230         90             0              0
  33  DeskLamp        1.404          0.668          2.209          0              0              0
  34  DeskLamp        2.596          0.668          -1.710         0              0              0
  35  Blinds          -1.062         2.361          -3.173         0              0              0
  36  Shelf           -1.675         1.871          -2.053         0              90             0
  37  Shelf           -1.675         1.383          -2.053         0              90             0
  38  Drawer          -1.715         0.832          -2.053         0              90             0
  39  ShelvingUnit    -1.723         0.007          -2.053         0              90             0
  40  Drawer          -1.713         0.339          -2.053         0              90             0
  41  Drawer          -1.629         0.104          0.243          0              90             0
  42  Dresser         -1.674         0.000          -0.153         0              90             0
  43  Drawer          -1.630         0.868          -0.550         0              90             0
  44  Drawer          -1.630         0.680          0.243          0              90             0
  45  Drawer          -1.629         0.104          -0.550         0              90             0
  46  Drawer          -1.630         0.680          -0.550         0              90             0
  47  Drawer          -1.630         0.868          0.243          0              90             0
  48  Drawer          -1.629         0.486          -0.550         0              90             0
  49  Drawer          -1.629         0.291          0.243          0              90             0
  50  Drawer          -1.629         0.291          -0.550         0              90             0
  51  Drawer          -1.630         0.486          0.243          0              90             0
  52  SideTable       1.576          -0.001         2.137          0              180            0
  53  Drawer          1.576          0.163          2.070          0              180            0
  54  Drawer          1.576          0.455          2.070          0              180            0
  55  SideTable       2.437          -0.001         -1.603         0              0              0
  56  Drawer          2.438          0.163          -1.536         0              0              0
  57  Drawer          2.438          0.455          -1.536         0              0              0
  58  ArmChair        2.393          -0.001         1.943          0              180            0
  59  NorthWall
  60  EastWall
  61  SouthWall
  62  WestWall

Plan:
STEP 1: Turn right and walk up to the dresser in front of the mirror | STEP 2: Pick up the CD from the dresser | STEP 3: Turn left and walk over to the shelf near the window | STEP 4: Put the CD on the upper shelf to the right of the clock | END