Task: Move a CD to the night stand

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           0.900          -0.75          0              180            0
   1  Mug             -0.276         0.616          0.755          0              180            0              37
   2  Mug             -0.741         0.616          0.599          0              180            0              37
   3  CD              -0.431         0.619          0.677          0              180            0              37
   4  CD              0.188          0.618          1.066          0              180            0              37
   5  Pen             -0.431         0.624          0.755          0              180            0              37
   6  Pencil          -0.276         0.625          0.677          0              180            0              37
   7  Pencil          -1.263         0.685          -2.508         0              0              0              38
   8  CreditCard      0.952          0.082          -2.399         0              0              0              42
   9  KeyChain        1.173          0.681          -2.329         0              0              0              39
  10  AlarmClock      -0.276         0.621          0.988          0              180            0              37
  11  Pillow          0.247          0.653          -1.657         0              0              0              25
  12  Box             2.453          0.222          -0.041         0              0              0
  13  Book            -0.117         0.555          -1.657         0              0              0              25
  14  KeyChain        -0.121         0.621          0.910          0              180            0              37
  15  Pillow          -0.483         0.653          -1.211         0              0              0              25
  16  BaseballBat     0.419          0.666          1.044          10.360         0              0
  17  Pencil          -0.431         0.625          0.910          0              180            0              37
  18  CellPhone       -0.483         0.557          -1.657         0              0              0              25
  19  CreditCard      0.818          0.675          -2.553         0              0              0              39
  20  Pen             -1.263         0.681          -2.329         0              0              0              38
  21  Laptop          0.247          0.554          -1.211         0              0              0              25
  22  AlarmClock      -0.586         0.621          0.833          0              180            0              37
  23  CD              -0.586         0.618          0.677          0              180            0              37
  24  Mug             -0.276         0.616          0.599          0              180            0              37
  25  Bed             -0.118         -0.001         -1.699         0              180            0
  26  Mirror          2.644          1.347          0.384          0              90             0
  27  GarbageCan      2.467          -0.029         0.936          0              271.107        0
  28  LightSwitch     0.333          1.256          1.149          0              180            0
  29  DeskLamp        0.915          0.670          -2.435         0              0              0
  30  Painting        0.003          1.562          -2.687         90             180            0
  31  Window          -1.559         1.414          -1.356         90             270            0
  32  Window          -1.559         1.414          -0.057         90             270            0
  33  Shelf           -0.276         0.351          0.832          0              0              0
  34  Shelf           -0.276         0.099          0.832          0              0              0
  35  Blinds          -1.462         2.157          -1.343         0              90             0
  36  Blinds          -1.462         2.157          -0.046         0              90             0
  37  Desk            -0.276         -0.001         0.833          0              0              0
  38  SideTable       -1.204         0.002          -2.456         0              0              0
  39  SideTable       0.948          0.002          -2.456         0              0              0
  40  Drawer          0.948          0.166          -2.389         0              0              0
  41  Drawer          -1.204         0.166          -2.389         0              0              0
  42  Drawer          0.948          0.458          -2.389         0              0              0
  43  Drawer          -1.204         0.458          -2.389         0              0              0
  44
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: Move to the white table opposite of the foot of the bed with the CD on top of it | STEP 2: Pick up the CD on top of the table | STEP 3: Carry the CD to the brown night stand to the right of the bed | STEP 4: Place the CD on the front left corner of the night stand | END