Task: put two cds in a safe

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.900          0.75           0              180            0
   1  Bowl            -1.194         0.794          -0.814         0              0              0              46
   2  CD              -1.283         1.458          -0.339         0              0              0              31
   3  Pencil          -0.813         0.796          -1.314         0              53.910         0              46
   4  Pen             0.368          0.679          -1.684         0              180            0              45
   5  Pen             0.368          0.679          -1.537         0              0              0              45
   6  CreditCard      0.305          0.082          1.191          0              0              0              39
   7  CreditCard      0.150          0.680          1.438          0              0              0              38
   8  KeyChain        0.150          0.681          1.348          0              0              0              38
   9  Book            1.676          0.578          -1.373         0              0              0              47
  10  Book            1.532          0.578          -0.408         0              0              0              47
  11  Laptop          0.953          0.574          -0.891         0              0              0              47
  12  Book            -0.66          0.783          -1.69          0              312.959        0              46
  13  Pencil          -1.283         1.462          -0.778         0              0              0              31
  14  Laptop          1.098          0.574          -0.408         0              0              0              47
  15  Pen             -0.376         0.798          -1.632         0              0              0              46
  16  TennisRacket    -1.226         0.301          -0.069         15.000         180            180
  17  TeddyBear       1.629          0.557          -1.064         0              118.287        0              47
  18  Pillow          1.215          0.641          -1.663         0              0              0              25
  19  CellPhone       1.676          0.578          -0.649         0              0              0              47
  20  KeyChain        0.476          0.082          1.262          0              0              0              48
  21  AlarmClock      -1.259         0.794          -1.760         0              0              0              46
  22  CreditCard      0.416          0.480          -1.546         0              0              0              44
  23  CD              -1.259         0.792          -1.504         0              0              0              46
  24  Bowl            -1.283         1.824          -1.344         0              0              0              33
  25  Bed             1.242          -0.001         -0.881         0              180            0
  26  LightSwitch     0.010          1.315          1.499          0              180            0
  27  GarbageCan      0.840          0.007          1.337          0              180            2.168
  28  HousePlant      -0.083         0.828          -2.045         0              0              0
  29  Shelf           -0.469         0.828          -2.038         0              0              0
  30  Shelf           -1.286         1.451          -1.343         0              0              0
  31  Shelf           -1.286         1.451          -0.602         0              0              0
  32  Shelf           -1.286         1.814          -0.602         0              0              0
  33  Shelf           -1.286         1.814          -1.343         0              0              0
  34  Painting        1.111          1.628          -1.865         90             0              0
  35  DeskLamp        0.473          0.669          1.350          0              0              0
  36  Mirror          -1.383         1.565          0.512          0              270            0
  37  Window          -0.472         1.396          -2.252         90             0              0
  38  SideTable       0.304          -0.001         1.225          0              180            0
  39  Drawer          0.304          0.165          1.159          0              180            0
  40  Drawer          0.304          0.457          1.159          0              180            0
  41  Blinds          -0.453         2.156          -2.242         0              0              0
  42  Safe            1.623          5.960          0.448          0              270            0
  43  Chair           -0.683         0.000          -1.326         0              217.223        0
  44  Drawer          0.416          0.532          -1.553         0              0              0
  45  SideTable       0.413          0.000          -1.684         0              0              0
  46  Desk            -0.788         0.000          -1.032         0              90             0
  47
  48
  49  NorthWall
  50  EastWall
  51  SouthWall
  52  WestWall

Plan:
STEP 1: walk to face shelf above desk | STEP 2: pick up cd from shelf | STEP 3: walk to face safe at end of bed | STEP 4: put cd in safe on floor | STEP 5: walk to face left side of desk | STEP 6: pick up cd from desk | STEP 7: walk to face safe at end of bed | STEP 8: put cd in safe on floor | END