Task: Moving 2 CD's to a drawer

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.25           0.900          0.25           0              90             0
   1  CD              0.961          0.432          -1.901         0              330.000        0              34
   2  Pen             3.641          0.053          -0.983         0              210.000        0              24
   3  Pencil          3.239          0.784          -1.679         0              0              0              36
   4  Pencil          0.226          0.709          1.380          0              90             0              30
   5  CreditCard      1.046          0.432          -2.387         0              330.000        0              34
   6  CreditCard      0.193          0.705          1.546          0              90             0              30
   7  KeyChain        0.260          0.706          -1.102         0              90             0              31
   8  Laptop          1.374          0.594          -0.238         0              0              0              23
   9  Book            0.968          0.596          0.722          0              0              0              23
  10  KeyChain        0.313          0.616          1.147          0              180            0              32
  11  Pillow          0.833          0.532          -2.189         0              330.000        0              34
  12  Pillow          0.563          0.677          0.338          0              0              0              23
  13  CreditCard      3.393          0.779          -1.679         0              0              0              36
  14  Pen             3.547          0.785          -1.59          0              0              0              36
  15  Pencil          2.776          0.782          -1.322         0              0              0              36
  16  TissueBox       2.930          0.779          -1.59          0              0              0              36
  17  Laptop          1.171          0.594          0.338          0              0              0              23
  18  CellPhone       1.374          0.596          0.722          0              0              0              23
  19  AlarmClock      3.084          0.779          -1.768         0              0              0              36
  20  CD              3.239          0.779          -1.768         0              0              0              36
  21  Chair           3.232          0.002          -1.873         0              350.846        0
  22  Mirror          1.083          1.228          1.700          0              0              0
  23  Bed             0.898          -0.002         0.141          0              270            0
  24  GarbageCan      3.633          8.165          -0.982         0              209.052        0
  25  DeskLamp        3.681          0.785          -1.386         0              0              0
  26  DeskLamp        0.347          0.698          -0.979         0              0              0
  27  Painting        0.100          1.432          -2.053         90             270            0
  28  Window          2.270          1.547          -2.915         90             0              0
  29  LightSwitch     1.809          1.169          1.700          0              180            0
  30  SideTable       0.277          0.000          1.299          0              90             0
  31  SideTable       0.276          0.000          -1.017         0              90             0
  32  Drawer          0.328          0.624          1.299          0              90             0
  33  Drawer          0.328          0.624          -1.017         0              90             0
  34  ArmChair        0.849          -0.001         -2.141         0              66.451         0
  35  Blinds          2.299          2.525          -2.892         0              0              0
  36  Desk            3.238          0.003          -1.590         0              0              0
  37  NorthWall
  38  EastWall
  39  SouthWall
  40  WestWall

Plan:
STEP 1: Turn to the right and go to the chair to the left of the black end table | STEP 2: Pick up the CD from the chair | STEP 3: go to the table to the right of the chair and the left of the bed | STEP 4: Open the drawer and put the CD inside and then close the drawer | STEP 5: Turn around and go around the table to face the chair and table  | STEP 6: Pick up the cd from the table | STEP 7: Turn left and go back to the table between the chair and bed | STEP 8: Open the drawer, put the CD in to the right of the first and then close the door | END