Task: Move the CD from the desk and chair onto the nightstand

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           3.25           0.900          -0.75          0              270            0
   1  TissueBox       2.776          0.781          -1.768         0              0              0              40
   2  TissueBox       2.930          0.781          -1.679         0              0              0              40
   3  CD              0.841          0.432          -1.863         0              330.000        0              38
   4  CD              3.239          0.779          -1.59          0              0              0              40
   5  Pen             0.324          0.710          1.463          0              90             0              34
   6  Pen             0.291          0.710          -1.271         0              180            0              35
   7  Pencil          3.084          0.784          -1.857         0              0              0              40
   8  KeyChain        0.293          0.617          1.529          0              270            0              36
   9  KeyChain        0.291          0.707          1.213          0              90             0              34
  10  Book            1.577          0.596          0.338          0              0              0              27
  11  AlarmClock      3.547          0.778          -1.768         0              0              0              40
  12  Laptop          1.374          0.594          -0.430         0              0              0              27
  13  Book            3.701          0.779          -1.59          0              0              0              40
  14  KeyChain        0.814          0.434          -1.986         0              330.000        0              38
  15  Pillow          0.968          0.677          -0.430         0              0              0              27
  16  Pillow          1.171          0.677          0.530          0              0              0              27
  17  CreditCard      3.393          0.779          -1.59          0              0              0              40
  18  Pen             3.393          0.783          -1.768         0              0              0              40
  19  Pencil          3.625          0.052          -1.011         0              210.000        0              28
  20  TissueBox       3.084          0.781          -1.411         0              0              0              40
  21  Laptop          1.171          0.594          0.145          0              0              0              27
  22  CellPhone       0.258          0.704          1.047          0              90             0              34
  23  AlarmClock      0.387          0.705          -1.186         0              270            0              35
  24  CD              3.084          0.777          -1.59          0              0              0              40
  25  Chair           3.232          0.002          -1.873         0              350.846        0
  26  Mirror          1.083          1.228          1.700          0              0              0
  27  Bed             0.898          -0.002         0.141          0              270            0
  28  GarbageCan      3.633          8.165          -0.982         0              209.052        0
  29  DeskLamp        3.681          0.785          -1.386         0              0              0
  30  DeskLamp        0.347          0.698          -0.979         0              0              0
  31  Painting        0.100          1.432          -2.053         90             270            0
  32  Window          2.270          1.547          -2.915         90             0              0
  33  LightSwitch     1.809          1.169          1.700          0              180            0
  34  SideTable       0.277          0.000          1.299          0              90             0
  35  SideTable       0.276          0.000          -1.017         0              90             0
  36  Drawer          0.328          0.624          1.299          0              90             0
  37  Drawer          0.328          0.624          -1.017         0              90             0
  38  ArmChair        0.849          -0.001         -2.141         0              66.451         0
  39  Blinds          2.299          2.525          -2.892         0              0              0
  40  Desk            3.238          0.003          -1.590         0              0              0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: Turn around and move towards the desk on the right | STEP 2: Pick up the CD on the left | STEP 3: Turn right and move towards the nightstand | STEP 4: Put the CD on the nightstand | STEP 5: Turn around and move to the chair on the right | STEP 6: Pick up the CD from off of the chair | STEP 7: Turn right and move to the nightstand | STEP 8: Place the CD on the nightstand | END