Task: Moving a CD to 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           1.5            0.910          5.5            0              270            0
   1  Mug             2.367          0.805          2.833          0              180            0              44
   2  Mug             2.262          0.805          2.833          0              0              0              44
   3  Bowl            2.529          0.845          0.230          0              0              0              45
   4  Bowl            2.471          0.810          2.392          0              0              0              44
   5  CellPhone       2.275          0.399          -0.420         0              270            0              48
   6  Pen             2.327          0.750          -1.521         0              90             0              53
   7  Pen             2.533          0.102          0.428          0              0              0              46
   8  Pencil          2.545          0.749          -1.372         0              0              0              41
   9  CreditCard      -1.078         0.913          4.35           0              0              0              33
  10  CreditCard      2.262          0.808          3.494          0              0              0              44
  11  Book            -0.833         0.713          1.973          0              0              0              30
  12  RemoteControl   2.544          0.401          -0.507         0              270            0              48
  13  RemoteControl   -1.038         0.401          -1.227         0              90             0              42
  14  AlarmClock      -0.749         0.921          4.166          0              0              0              33
  15  Laptop          -1.312         0.712          1.973          0              0              0              30
  16  Book            -0.833         0.713          1.690          0              0              0              30
  17  AlarmClock      2.545          0.753          -1.659         0              0              0              41
  18  CellPhone       -0.594         0.714          2.822          0              0              0              30
  19  Bowl            2.576          0.810          2.613          0              0              0              44
  20  CreditCard      2.490          0.094          0.917          0              0              0              46
  21  KeyChain        2.784          0.808          3.053          0              90             0              44
  22  RemoteControl   2.575          0.462          0.428          0              0              0              47
  23  Laptop          2.680          0.806          3.715          0              0              0              44
  24  Pencil          2.680          0.810          2.833          0              0              0              44
  25  Pillow          -0.959         0.752          2.977          0              0              0              30
  26  Pillow          -0.247         0.752          2.960          0              0              0              30
  27  CD              2.496          0.744          -1.516         0              0              0              53
  28  Pen             -0.749         0.919          4.35           0              0              0              33
  29  Mug             2.784          0.806          2.613          0              0              0              44
  30  Bed             -0.594         0.009          2.298          0              0              0
  31  Mirror          -1.184         1.603          4.348          0              0              0
  32  Television      2.738          1.330          0.622          0              270            0
  33  CounterTop      -0.890         0.951          4.349          0              0              0
  34  LightSwitch     0.800          1.371          5.245          0              90             0
  35  Painting        2.992          1.529          3.415          90             270            0
  36  Painting        2.992          1.529          2.553          90             270            0
  37  DeskLamp        2.625          0.772          -1.469         0              0              0
  38  DeskLamp        2.668          0.810          3.082          0              358.947        0
  39  GarbageCan      -0.626         -0.009         3.742          0              0              0
  40  Window          -0.453         1.450          -2.058         90             180            0
  41  SideTable       2.565          0.009          -1.534         0              0              0
  42  ArmChair        -1.277         0.009          -1.169         0              90             0
  43  Blinds          -0.5           2.174          -1.957         0              0              0
  44  Desk            2.572          0.011          3.054          0              270            0
  45  SideTable       2.645          0.009          0.624          0              270            0
  46  Drawer          2.525          0.214          0.624          0              270            0
  47  Drawer          2.525          0.578          0.624          0              270            0
  48  ArmChair        2.424          0.009          -0.564         0              270            0
  49  LaundryHamper   3.457          0.009          4.555          0              270            0
  50  Chair           2.591          0.020          2.015          0              0              0
  51  Chair           2.184          0.020          3.440          0              120.016        0
  52  Chair           2.211          0.020          2.592          0              74.981         0
  53
  54  NorthWall
  55  EastWall
  56  SouthWall
  57  WestWall

Plan:
STEP 1: Move left to the small black round table in the corner of the room | STEP 2: Pick up the CD on the black table | STEP 3: Carry the CD to the black desk top with the two red chairs | STEP 4: Place the CD in the middle of the desk right of the credit card | END