Task: Put the two cd in the drawer

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           3.0            0.900          -1.0           0              90             0
   1  CD              3.103          0.797          -1.358         0              0              0              37
   2  CD              1.471          0.517          -1.672         0              0              0              39
   3  CellPhone       -0.260         0.570          -1.129         0              0              0              24
   4  Pen             1.909          0.804          -1.728         0              0              0              37
   5  CreditCard      1.409          0.283          -1.593         0              180            0              38
   6  CreditCard      1.394          0.515          -1.793         0              0              0              39
   7  KeyChain        2.108          0.799          -1.358         0              0              0              37
   8  KeyChain        1.352          0.060          -1.593         0              270            0              40
   9  Book            -0.260         0.569          -1.352         0              0              0              24
  10  Book            2.881          0.791          -1.623         0              39.196         0              37
  11  KeyChain        1.296          0.284          -1.635         0              180            0              38
  12  TissueBox       3.067          0.536          -1.421         0              0              0              36
  13  TeddyBear       -0.075         0.562          -0.274         353.177        297.143        5.348          24
  14  Pencil          1.909          0.803          -1.482         0              0              0              37
  15  CreditCard      2.875          0.545          -1.464         0              0              0              36
  16  TennisRacket    -0.921         0.344          0.390          13.911         273.938        195.992        Floor|+00.39|
  17  Laptop          2.362          0.791          -1.54          0              0              0              37
  18  AlarmClock      1.108          0.510          -1.673         0              345.196        0              39
  19  Pen             2.705          0.804          -1.605         0              90             0              37
  20  Pillow          0.299          0.643          -1.557         0              0              0              24
  21  CellPhone       0.227          0.570          -0.682         0              0              0              24
  22  CD              1.317          0.515          -1.672         0              0              0              39
  23  Mug             1.909          0.796          -1.420         0              90             0              37
  24  Bed             0.227          -0.003         -0.947         0              180            0
  25  Mirror          0.615          1.264          1.029          0              0              0
  26  GarbageCan      3.166          -0.011         -0.264         4.636          271.335        0
  27  DeskLamp        3.164          0.794          -1.664         0              315            0
  28  HousePlant      -0.833         0.000          0.843          0              0              0
  29  LightSwitch     2.010          1.126          1.029          0              180            0
  30  Window          1.794          1.677          -1.939         90             180            0
  31  Window          0.691          1.361          -1.938         90             180            0
  32  Dumbbell        2.628          0.001          -1.613         0              346.954        0
  33  Blinds          1.776          1.993          -1.858         0              0              0
  34  Blinds          0.670          1.993          -1.858         0              0              0
  35  Chair           2.255          0.004          -1.501         0              167.716        0
  36  Shelf           3.034          0.637          -1.580         0              0              0
  37  Desk            2.500          0.002          -1.596         0              0              0
  38  Drawer          1.240          0.354          -1.553         0              0              0
  39  SideTable       1.239          0.003          -1.551         0              0              0
  40  Drawer          1.240          0.126          -1.553         0              0              0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: Turn left then go to the side table on the bed | STEP 2: Pick up the cd on the side table | STEP 3: Turn left move backwards face the drawer of the side table | STEP 4: Open the drawer and put in the cd then close the drawer | STEP 5: Move forward facing the side table | STEP 6: Pick up the cd | STEP 7: Turn back and move backwards facing the drawer | STEP 8: Open the drawer and put in the cd then close the drawer | END