Task: Put a cd on the nightstand.

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           0.900          -0.75          0              180            0
   1  Mug             -0.276         0.616          0.755          0              180            0              37
   2  Mug             -0.741         0.616          0.599          0              180            0              37
   3  CD              -0.431         0.619          0.677          0              180            0              37
   4  CD              0.188          0.618          1.066          0              180            0              37
   5  Pen             -0.431         0.624          0.755          0              180            0              37
   6  Pencil          -0.276         0.625          0.677          0              180            0              37
   7  Pencil          -1.263         0.685          -2.508         0              0              0              38
   8  CreditCard      0.952          0.082          -2.399         0              0              0              42
   9  KeyChain        1.173          0.681          -2.329         0              0              0              39
  10  AlarmClock      -0.276         0.621          0.988          0              180            0              37
  11  Pillow          0.247          0.653          -1.657         0              0              0              25
  12  Box             2.453          0.222          -0.041         0              0              0
  13  Book            -0.117         0.555          -1.657         0              0              0              25
  14  KeyChain        -0.121         0.621          0.910          0              180            0              37
  15  Pillow          -0.483         0.653          -1.211         0              0              0              25
  16  BaseballBat     0.419          0.666          1.044          10.360         0              0
  17  Pencil          -0.431         0.625          0.910          0              180            0              37
  18  CellPhone       -0.483         0.557          -1.657         0              0              0              25
  19  CreditCard      0.818          0.675          -2.553         0              0              0              39
  20  Pen             -1.263         0.681          -2.329         0              0              0              38
  21  Laptop          0.247          0.554          -1.211         0              0              0              25
  22  AlarmClock      -0.586         0.621          0.833          0              180            0              37
  23  CD              -0.586         0.618          0.677          0              180            0              37
  24  Mug             -0.276         0.616          0.599          0              180            0              37
  25  Bed             -0.118         -0.001         -1.699         0              180            0
  26  Mirror          2.644          1.347          0.384          0              90             0
  27  GarbageCan      2.467          -0.029         0.936          0              271.107        0
  28  LightSwitch     0.333          1.256          1.149          0              180            0
  29  DeskLamp        0.915          0.670          -2.435         0              0              0
  30  Painting        0.003          1.562          -2.687         90             180            0
  31  Window          -1.559         1.414          -1.356         90             270            0
  32  Window          -1.559         1.414          -0.057         90             270            0
  33  Shelf           -0.276         0.351          0.832          0              0              0
  34  Shelf           -0.276         0.099          0.832          0              0              0
  35  Blinds          -1.462         2.157          -1.343         0              90             0
  36  Blinds          -1.462         2.157          -0.046         0              90             0
  37  Desk            -0.276         -0.001         0.833          0              0              0
  38  SideTable       -1.204         0.002          -2.456         0              0              0
  39  SideTable       0.948          0.002          -2.456         0              0              0
  40  Drawer          0.948          0.166          -2.389         0              0              0
  41  Drawer          -1.204         0.166          -2.389         0              0              0
  42  Drawer          0.948          0.458          -2.389         0              0              0
  43  Drawer          -1.204         0.458          -2.389         0              0              0
  44
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: Turn right and walk to the bed then turn right and walk just past the bed then turn left and walk until you're even with the table to your right and when you are turn right and walk to it. | STEP 2: Pick up the cd farthest to the left. | STEP 3: Turn left and walk to the wall then turn left and walk to the nightstand. | STEP 4: Put the cd on the nightstand to the left of the pencil on the bottom edge. | END