Task: move cd from tv stand to table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.910          4.25           0              90             0
   1  Mug             2.770          0.841          0.230          0              0              0              44
   2  Bowl            -0.881         0.915          4.900          0              0              0              32
   3  Bowl            2.576          0.809          2.392          0              0              0              43
   4  CD              2.327          0.744          -1.472         0              90             0              52
   5  CellPhone       2.275          0.399          -0.333         0              270            0              47
   6  KeyChain        2.576          0.808          3.053          0              0              0              43
   7  KeyChain        2.660          0.095          0.917          0              0              0              45
   8  Book            2.496          0.745          -1.659         0              0              0              40
   9  RemoteControl   -1.397         0.401          -0.966         0              90             0              41
  10  RemoteControl   -1.397         0.401          -1.140         0              90             0              41
  11  AlarmClock      -1.012         0.921          4.166          0              0              0              32
  12  AlarmClock      2.680          0.815          3.715          0              0              0              43
  13  Laptop          -0.116         0.712          1.690          0              0              0              29
  14  Laptop          -0.881         0.911          4.533          0              0              0              32
  15  Book            2.454          0.399          -0.594         0              270            0              47
  16  AlarmClock      2.496          0.753          -1.444         0              0              0              40
  17  CellPhone       2.889          0.807          3.494          0              0              0              43
  18  Bowl            2.471          0.809          3.274          0              0              0              43
  19  CreditCard      2.471          0.807          3.715          0              0              0              43
  20  KeyChain        -1.397         0.400          -1.401         0              180            0              41
  21  RemoteControl   2.533          0.098          0.721          0              0              0              45
  22  Laptop          2.784          0.805          2.833          0              0              0              43
  23  Pencil          2.576          0.811          3.274          0              0              0              43
  24  Pillow          -0.959         0.752          2.977          0              0              0              29
  25  Pillow          -0.247         0.752          2.960          0              0              0              29
  26  CD              2.529          0.842          0.886          0              0              0              44
  27  Pen             2.262          0.813          3.053          0              0              0              43
  28  Mug             2.529          0.841          0.361          0              0              0              44
  29  Bed             -0.594         0.009          2.298          0              0              0
  30  Mirror          -1.184         1.603          4.348          0              0              0
  31  Television      2.738          1.330          0.622          0              270            0
  32  CounterTop      -0.890         0.951          4.349          0              0              0
  33  LightSwitch     0.800          1.371          5.245          0              90             0
  34  Painting        2.992          1.529          3.415          90             270            0
  35  Painting        2.992          1.529          2.553          90             270            0
  36  DeskLamp        2.625          0.772          -1.469         0              0              0
  37  DeskLamp        2.668          0.810          3.082          0              358.947        0
  38  GarbageCan      -0.626         -0.009         3.742          0              0              0
  39  Window          -0.453         1.450          -2.058         90             180            0
  40  SideTable       2.565          0.009          -1.534         0              0              0
  41  ArmChair        -1.277         0.009          -1.169         0              90             0
  42  Blinds          -0.5           2.174          -1.957         0              0              0
  43  Desk            2.572          0.011          3.054          0              270            0
  44  SideTable       2.645          0.009          0.624          0              270            0
  45  Drawer          2.525          0.214          0.624          0              270            0
  46  Drawer          2.525          0.578          0.624          0              270            0
  47  ArmChair        2.424          0.009          -0.564         0              270            0
  48  LaundryHamper   3.457          0.009          4.555          0              270            0
  49  Chair           2.591          0.020          2.015          0              0              0
  50  Chair           2.184          0.020          3.440          0              120.016        0
  51  Chair           2.211          0.020          2.592          0              74.981         0
  52
  53  NorthWall
  54  EastWall
  55  SouthWall
  56  WestWall

Plan:
STEP 1: walk forward a few steps, turn right, walk forward, turn left to face tv stand | STEP 2: pick up CD that is on tv stand | STEP 3: turn around, take two steps, turn right, walk forward, turn right to face table with chairs | STEP 4: put CD on the table | END