Task: Put the CD into the safe

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.5            0.901          -1.0           0              90             0
   1  CD              -0.486         0.216          -1.768         0              270            0              49
   2  CD              2.298          0.569          1.294          0              180            0              39
   3  CD              0.604          0.970          -1.705         0              270            0              41
   4  CellPhone       0.402          0.974          -1.631         0              270            0              41
   5  CellPhone       1.640          0.418          -0.413         0              0              0              51
   6  Pen             2.166          0.475          1.332          0              0              0              38
   7  Pencil          0.398          0.221          -1.712         0              270            0              48
   8  Pencil          -0.300         0.220          -1.600         0              270            0              49
   9  CreditCard      0.000          0.972          -1.778         0              270            0              41
  10  CreditCard      2.068          0.570          1.457          0              180            0              39
  11  KeyChain        0.305          0.606          -1.656         0              270            0              46
  12  KeyChain        0.305          0.606          -1.769         0              270            0              46
  13  Book            0.398          0.412          -1.656         0              270            0              50
  14  Book            -0.487         0.037          -1.711         0              270            0              42
  15  Box             -1.751         0.252          1.499          0              340.773        0              Floor|+00.00|
  16  Book            0.491          0.801          -1.598         0              270            0              43
  17  Cloth           -1.146         0.000          -2.123         0              0              0              Floor|+00.00|
  18  CellPhone       1.392          0.418          0.252          0              0              0              51
  19  Pencil          0.201          0.974          -1.631         0              270            0              41
  20  AlarmClock      2.153          0.565          1.23           0              213.033        0              39
  21  TeddyBear       -2.236         0.000          1.457          0              319.128        0              Floor|+00.00|
  22  CreditCard      0.604          0.970          -1.557         0              270            0              41
  23  KeyChain        0.201          0.971          -1.484         0              270            0              41
  24  Pillow          0.897          0.477          -0.247         0              0              0              51
  25  Pillow          2.15           0.433          -0.241         0              282.078        0              51
  26  Laptop          -0.5           0.965          -1.715         0              24.156         0              41
  27  Bowl            0.471          0.965          -1.856         0              0              0              41
  28  Cloth           -1.288         0.000          -1.936         0              357.341        356.936        Floor|+00.00|
  29  CD              -0.200         0.970          -1.484         0              270            0              41
  30  Pen             0.000          0.977          -1.557         0              270            0              41
  31  DeskLamp        2.302          0.561          1.435          0              315            0
  32  GarbageCan      -2.208         -0.023         -1.742         0              77.663         0
  33  Poster          2.439          1.508          0.014          90             270            0
  34  LightSwitch     -2.457         1.274          -0.096         0              90             0
  35  Mirror          2.454          1.322          -1.414         0              90             0
  36  Window          -1.440         1.815          -2.354         90             0              0
  37  Window          1.401          1.815          -2.354         90             0              0
  38  Drawer          2.251          0.468          1.333          0              270            0
  39  SideTable       2.243          -0.001         1.331          0              270            0
  40  Drawer          -0.385         0.681          -1.631         0              0              0
  41  Dresser         0.011          0.001          -1.676         0              0              0
  42  Drawer          -0.385         0.105          -1.631         0              0              0
  43  Drawer          0.408          0.868          -1.632         0              0              0
  44  Drawer          -0.385         0.487          -1.631         0              0              0
  45  Drawer          -0.385         0.868          -1.632         0              0              0
  46  Drawer          0.408          0.681          -1.631         0              0              0
  47  Drawer          0.408          0.105          -1.631         0              0              0
  48  Drawer          0.408          0.292          -1.631         0              0              0
  49  Drawer          -0.385         0.292          -1.631         0              0              0
  50  Drawer          0.408          0.487          -1.631         0              0              0
  51  Bed             1.377          0.004          0.072          0              90             0
  52  Blinds          1.422          3.115          -2.339         0              0              0
  53  Blinds          -1.422         3.115          -2.339         0              0              0
  54  Safe            1.640          0.000          -2.040         0              355.244        0
  55  LaundryHamper   -1.564         0.001          -1.927         0              45             0
  56  NorthWall
  57  EastWall
  58  SouthWall
  59  WestWall

Plan:
STEP 1: Turn and walk over to the dresser | STEP 2: Pick up the CD from the top of the dresser | STEP 3: Turn left and walk over to the white floor safe | STEP 4: Place the CD into the white safe | END