Task: Put two CDs in the open area between the desk top and the drawers underneath.

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          0.899          -2.5           0              0              0
   1  Mug             3.147          0.790          -0.838         0              0              0              63
   2  Bowl            3.271          0.791          -2.250         0              0              0              63
   3  Watch           -1.676         0.338          0.414          0              90             0              65
   4  CD              3.209          0.791          -1.968         0              0              0              63
   5  CD              2.962          0.791          -2.250         0              0              0              63
   6  Pen             0.859          1.419          -2.154         0              270            0              42
   7  Pencil          -1.592         0.619          0.422          0              180            0              67
   8  Pencil          3.271          0.798          -1.121         0              0              0              63
   9  CreditCard      -1.574         0.337          0.350          0              0              0              65
  10  Book            -0.175         0.614          0.245          0              0              0              36
  11  Book            -0.175         0.614          -0.317         0              0              0              36
  12  Laptop          -0.327         0.614          -1.442         0              0              0              36
  13  Laptop          -2.307         0.598          -0.879         0              0              0              35
  14  Book            -0.784         0.614          -0.317         0              0              0              36
  15  Laptop          -2.155         0.598          -0.317         0              0              0              35
  16  KeyChain        -1.453         0.615          0.340          0              180            0              67
  17  Cloth           0.970          -0.001         -2.404         0              0              0
  18  BaseballBat     -2.982         0.015          -2.698         270            350.597        0
  19  BasketBall      -2.718         0.118          -1.925         0              0              0
  20  Pillow          -0.631         0.693          -0.879         0              0              0              36
  21  Pillow          -0.626         0.650          0.129          0              0              0              36
  22  TennisRacket    -3.018         0.301          -2.199         19.103         272.232        184.978
  23  Pencil          3.209          0.797          -1.686         0              0              0              63
  24  CreditCard      0.954          1.413          -2.089         0              270            0              42
  25  Cloth           0.911          0.025          -2.702         0              0              0
  26  TeddyBear       -2.645         0.624          -0.402         0              286.876        0              35
  27  Pen             0.891          1.147          -2.653         0              270            0              45
  28  Cloth           0.705          -0.001         -2.75          0              270            0
  29  AlarmClock      3.271          0.794          -0.838         0              0              0              63
  30  Watch           -1.676         0.075          0.371          0              0              0              66
  31  CellPhone       -2.979         1.141          -2.197         0              90             0              43
  32  CD              -1.574         0.074          0.350          0              0              0              66
  33  Mug             -1.731         0.611          0.503          0              180            0              67
  34  Bowl            -2.948         1.141          -2.866         0              90             0              49
  35  Bed             -2.455         -0.000         -0.572         0              0              0
  36  Bed             -0.634         -0.000         -0.567         0              0              0
  37  Chair           2.828          -0.002         -0.004         0              245.795        0
  38  Chair           2.727          -0.002         -1.210         0              95.225         0
  39  GarbageCan      1.707          -0.003         -2.785         0              59.967         0
  40  Shelf           0.922          1.133          -2.163         0              270            0
  41  Shelf           -2.948         1.405          -1.621         0              90             0
  42  Shelf           0.922          1.405          -2.163         0              270            0
  43  Shelf           -2.948         1.133          -2.188         0              90             0
  44  Shelf           -2.948         1.405          -2.188         0              90             0
  45  Shelf           0.922          1.133          -2.729         0              270            0
  46  Shelf           0.922          1.133          -1.616         0              270            0
  47  Shelf           -2.948         1.405          -2.735         0              90             0
  48  Shelf           0.922          1.405          -1.616         0              270            0
  49  Shelf           -2.948         1.133          -2.735         0              90             0
  50  Shelf           0.922          1.405          -2.729         0              270            0
  51  Shelf           -2.948         1.133          -1.621         0              90             0
  52  LightSwitch     -0.142         1.328          0.600          0              180            0
  53  Poster          3.400          1.863          -1.976         90             90             0
  54  Poster          3.400          1.702          -0.792         90             90             0
  55  DeskLamp        3.126          0.789          -0.638         0              3.649          0
  56  Mirror          0.453          1.491          0.616          0              0              0
  57  Window          2.278          0.925          -3.184         90             0              0
  58  Window          -1.019         0.925          -3.184         90             0              0
  59  Blinds          -1.003         2.072          -3.177         0              0              0
  60  Blinds          2.292          2.072          -3.177         0              0              0
  61  Shelf           3.124          0.633          -0.564         0              270            0
  62  Shelf           3.124          0.633          -2.267         0              270            0
  63  Desk            3.141          -0.000         -1.414         0              270            0
  64  Desktop         3.101          0.792          -1.236         358.565        270            0
  65  Drawer          -1.523         0.408          0.346          0              180            0
  66  Drawer          -1.523         0.141          0.346          0              180            0
  67  SideTable       -1.522         -0.001         0.411          0              180            0
  68  NorthWall
  69  EastWall
  70  SouthWall
  71  WestWall

Plan:
STEP 1: Walk forward for two steps, turn right past the bed then turn left, walk four steps then turn right for six steps, turn right for four steps, turn left and walk to the desk. | STEP 2: Pick up the CD from the desk, on the upper left. | STEP 3: Turn around and walk one step, and then turn around and stop. | STEP 4: Put the CD in the open area below the desk top, at the lower, left front corner. | STEP 5: Turn to the right for one step, turn left for one step. | STEP 6: Pick up the CD from the top of the desk. | STEP 7: Turn all the way around and stop. | STEP 8: Place the CD to the right of the CD in the open area under the desk top. | END