Task: place two CD's in the top drawer of the black cabinet

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              0              0
   1  CD              2.668          0.522          1.312          0              180            0              34
   2  CD              3.386          0.161          -0.102         0              270            0              30
   3  Pencil          -0.426         0.904          -1.588         0              0              0              22
   4  Pencil          -0.774         0.899          -1.310         0              0              0              22
   5  CreditCard      0.607          0.941          -1.965         0              0              0              28
   6  KeyChain        1.138          0.941          -1.937         0              0              0              28
   7  KeyChain        -0.881         0.651          -1.330         0              0              0              25
   8  AlarmClock      2.282          0.526          1.151          0              180            0              34
   9  AlarmClock      2.514          0.526          1.151          0              180            0              34
  10  Laptop          2.329          0.774          -1.056         0              180            0              32
  11  Book            1.780          0.777          -0.608         0              180            0              32
  12  Pen             3.385          0.167          0.009          0              270            0              39
  13  AlarmClock      0.253          0.943          -1.882         0              0              0              28
  14  TeddyBear       1.324          0.827          -0.763         56.834         332.692        298.236        40
  15  CellPhone       -0.774         0.897          -1.495         0              0              0              22
  16  Pencil          1.315          0.945          -1.937         0              0              0              28
  17  Pillow          3.173          0.804          -0.932         0              0              0              40
  18  Laptop          1.506          0.774          -1.205         0              180            0              40
  19  KeyChain        2.591          0.525          1.191          0              180            0              34
  20  CreditCard      0.430          0.941          -1.937         0              0              0              28
  21  CD              2.359          0.522          1.312          0              180            0              34
  22  Desk            -0.503         0.006          -1.465         0              0              0
  23  Drawer          -0.945         0.493          -1.176         0              0              0
  24  Drawer          -0.946         0.212          -1.176         0              0              0
  25  Drawer          -0.944         0.739          -1.176         0              0              0
  26  DeskLamp        -0.124         0.899          -1.731         0              0              0
  27  LightSwitch     3.513          1.253          0.165          0              270            0
  28  Shelf           0.759          0.934          -1.909         0              0              0
  29  Mirror          2.407          1.294          1.401          0              0              0
  30  GarbageCan      3.347          -0.000         -0.027         0              270            0
  31  Window          0.717          1.603          -2.108         90             0              0
  32  Bed             2.301          0.005          -1.056         0              270            0
  33  Blinds          0.749          2.523          -2.022         0              0              0
  34  SideTable       2.436          0.002          1.143          0              180            0
  35  Drawer          2.437          0.122          1.154          0              180            0
  36  Drawer          2.437          0.350          1.153          0              180            0
  37  LaundryHamper   0.359          0.006          -1.505         0              280.399        358.305
  38  Chair           -0.308         0.009          -1.108         0              166.824        0
  39
  40
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: turn around and walk towards the bed, then turn left and walk to the end of the room where the garbage bin is | STEP 2: grab the CD out of the garbage bin | STEP 3: turn left and walk to the end of the room | STEP 4: place the CD in the top drawer of the black cabinet on your left | STEP 5: move to the left a bit to face the front right side of the cabinet | STEP 6: grab a CD off of the top of the cabinet | STEP 7: back up a bit and to the right of the cabinet, then face the wall the cabinet is up against | STEP 8: place the CD in the top drawer of the cabinet | END