Task: Put two CD's on the desk.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.25           0.900          -0.25          0              270            0
   1  TissueBox       2.904          0.800          -1.605         0              0              0              37
   2  CD              1.008          0.515          -1.672         0              0              0              39
   3  CD              1.183          0.282          -1.614         0              180            0              38
   4  CD              1.240          0.517          -1.631         0              0              0              39
   5  Pen             1.909          0.804          -1.482         0              0              0              37
   6  Pencil          2.904          0.803          -1.358         0              0              0              37
   7  CreditCard      2.506          0.798          -1.666         0              0              0              37
   8  KeyChain        2.875          0.547          -1.464         0              180            0              36
   9  Book            -0.097         0.569          -1.352         0              0              0              24
  10  Book            0.715          0.569          -0.905         0              0              0              24
  11  KeyChain        2.705          0.799          -1.358         0              0              0              37
  12  TissueBox       2.307          0.800          -1.358         0              0              0              37
  13  TeddyBear       -0.075         0.562          -0.274         353.177        297.143        5.348          24
  14  Pencil          1.162          0.521          -1.712         0              0              0              39
  15  CreditCard      2.307          0.798          -1.605         0              0              0              37
  16  TennisRacket    -0.921         0.344          0.390          13.911         273.938        195.992        Floor|+00.39|
  17  Laptop          0.227          0.568          -0.459         0              0              0              24
  18  AlarmClock      2.108          0.798          -1.420         0              0              0              37
  19  Pen             2.506          0.804          -1.358         0              0              0              37
  20  Pillow          0.064          0.674          -0.905         0              0              0              24
  21  CellPhone       1.471          0.517          -1.752         0              0              0              39
  22  CD              3.189          0.077          -0.241         0              270            0              26
  23  Mug             1.471          0.515          -1.591         0              90             0              39
  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 to your left and go to the night stand to your left.  | STEP 2: Pick up the CD, closest to the bed, on the night stand.  | STEP 3: Turn to your left and walk towards the wall, then turn to the desk at your right when you reach the desk chair.  | STEP 4: Place the CD on the desk, behind the pen that is in front of the chair.  | STEP 5: Turn to the garbage can on the floor to your left.  | STEP 6: Remove the CD from the bottom of the garbage bin on the floor.  | STEP 7: Turn to your right and go back to the desk.  | STEP 8: Place the CD, to the left of the other CD, on the desk.  | END