Task: Place a CD in a cabinet.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.0            0.900          -1.75          0              270            0
   1  CD              -0.244         0.837          -1.969         0              0              0              40
   2  CellPhone       -1.396         0.839          -1.861         0              0              0              40
   3  CellPhone       1.436          0.647          -0.299         0              0              0              27
   4  Pencil          1.639          0.377          -0.988         0              180            0              33
   5  Pencil          1.592          0.377          -1.102         0              0              0              33
   6  CreditCard      1.663          0.082          -0.987         0              90             0              34
   7  Book            1.720          0.646          -0.120         0              0              0              27
   8  AlarmClock      -0.705         1.777          -2.281         0              0              0              40
   9  AlarmClock      -1.396         0.837          -2.185         0              0              0              40
  10  Laptop          0.868          0.643          0.059          0              0              0              27
  11  Laptop          1.720          0.643          0.418          0              0              0              27
  12  Book            -1.273         1.348          -2.134         0              0              0              41
  13  Box             -0.424         2.065          -2.027         0              352.503        0              40
  14  Pillow          1.993          0.67           0.222          0              270            0              27
  15  AlarmClock      -0.705         0.837          -1.753         0              0              0              40
  16  BasketBall      -0.337         0.120          1.031          0              0              0              Floor|-00.16|
  17  BaseballBat     -1.602         0.022          0.356          90             8.736          0              Floor|-00.16|
  18  Pen             1.581          0.686          -0.910         0              270            0              35
  19  CellPhone       -1.165         0.839          -2.077         0              0              0              40
  20  TennisRacket    -1.667         0.0            0.818          90             29.999         0              Floor|-00.16|
  21  Laptop          -1.396         1.775          -2.161         0              0              0              40
  22  Pencil          1.762          0.684          -0.910         0              270            0              35
  23  KeyChain        -0.705         1.777          -2.161         0              90             0              40
  24  CreditCard      -1.626         0.837          -1.861         0              0              0              40
  25  CD              -1.165         0.837          -1.861         0              0              0              40
  26  Mirror          0.883          1.582          -2.399         0              180            0
  27  Bed             1.176          -0.002         0.238          0              90             0
  28  LightSwitch     1.899          1.297          -1.302         0              270            0
  29  Poster          -1.927         1.411          -1.455         90             90             0
  30  GarbageCan      0.128          -0.030         -2.146         0              90             0
  31  Window          -2.028         1.388          -0.270         90             270            0
  32  DeskLamp        -1.673         1.774          -2.190         0              0              0
  33  Drawer          1.624          0.453          -0.987         0              270            0
  34  Drawer          1.624          0.163          -0.987         0              270            0
  35  SideTable       1.691          0.002          -0.988         0              270            0
  36  Chair           -1.089         0.009          -1.570         0              166.824        0
  37  Blinds          -1.949         2.158          -0.252         0              90             0
  38  Cabinet         -0.241         1.534          -2.101         0              0              0
  39  Cabinet         -1.301         1.534          -2.101         0              0              0
  40  Desk            -0.962         0.003          -1.942         0              0              0
  41  Cabinet         -1.683         1.534          -2.101         0              0              0
  42  Cabinet         -0.623         1.534          -2.101         0              0              0
  43  Shelf           -0.962         1.534          -2.101         0              0              0
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: Turn right and then left to walk to the other side of the desk. | STEP 2: Pick up the CD on the desk. | STEP 3: Take a step left and look up. | STEP 4: Place the CD in the top right cabinet. | END