Task: Move a CD to the night stand

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.0            0.900          -1.0           0              0              0
   1  Mug             -0.431         0.618          0.988          0              180            0              35
   2  CellPhone       0.064          0.557          -1.434         0              0              0              23
   3  Pen             -0.586         0.625          0.599          0              180            0              35
   4  Pencil          -0.741         0.623          0.755          0              180            0              35
   5  CreditCard      -0.431         0.618          0.755          0              180            0              35
   6  CreditCard      -0.586         0.618          0.833          0              180            0              35
   7  KeyChain        -1.334         0.376          -2.375         0              270            0              41
   8  KeyChain        -1.204         0.084          -2.423         0              90             0              39
   9  Pillow          -0.300         0.653          -1.211         0              0              0              23
  10  Box             2.453          0.222          -0.041         0              0              0
  11  Book            0.064          0.555          -1.211         0              0              0              23
  12  KeyChain        -0.741         0.621          1.066          0              270            0              35
  13  Pillow          0.192          0.607          -2.307         0              0              0              23
  14  BaseballBat     0.419          0.666          1.044          10.360         0              0
  15  Pencil          0.188          0.625          0.832          0              0              0              35
  16  CellPhone       -0.431         0.619          0.833          0              180            0              35
  17  CreditCard      -1.117         0.082          -2.423         0              0              0              39
  18  Pen             0.033          0.624          0.988          0              180            0              35
  19  Laptop          -0.483         0.554          -1.880         0              0              0              23
  20  AlarmClock      -1.236         0.673          -2.425         0              29.999         0              37
  21  CD              0.033          0.618          1.066          0              180            0              35
  22  Mug             1.173          0.677          -2.464         0              0              0              37
  23  Bed             -0.118         -0.001         -1.699         0              180            0
  24  Mirror          2.644          1.347          0.384          0              90             0
  25  GarbageCan      2.467          -0.029         0.936          0              271.107        0
  26  LightSwitch     0.333          1.256          1.149          0              180            0
  27  DeskLamp        0.915          0.670          -2.435         0              0              0
  28  Painting        0.003          1.562          -2.687         90             180            0
  29  Window          -1.559         1.414          -1.356         90             270            0
  30  Window          -1.559         1.414          -0.057         90             270            0
  31  Shelf           -0.276         0.351          0.832          0              0              0
  32  Shelf           -0.276         0.099          0.832          0              0              0
  33  Blinds          -1.462         2.157          -1.343         0              90             0
  34  Blinds          -1.462         2.157          -0.046         0              90             0
  35  Desk            -0.276         -0.001         0.833          0              0              0
  36  SideTable       -1.204         0.002          -2.456         0              0              0
  37  SideTable       0.948          0.002          -2.456         0              0              0
  38  Drawer          0.948          0.166          -2.389         0              0              0
  39  Drawer          -1.204         0.166          -2.389         0              0              0
  40  Drawer          0.948          0.458          -2.389         0              0              0
  41  Drawer          -1.204         0.458          -2.389         0              0              0
  42
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: Turn left and head to the table top with the CD on top of it | STEP 2: Pick up the CD on top of the table | STEP 3: Turn around and carry the CD to the night stand to the right of the bed | STEP 4: Place the CD on top of the night stand on the front right corner | END