Task: move CD from cabinet to a shelf

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          -2.0           0              0              0
   1  Pen             -1.626         0.843          -1.861         0              0              0              36
   2  Pen             -1.626         0.843          -2.077         0              0              0              36
   3  Pencil          1.626          0.684          -1.220         0              270            0              31
   4  CreditCard      1.671          0.680          -1.065         0              270            0              31
   5  KeyChain        -1.396         1.777          -2.281         0              0              0              36
   6  KeyChain        1.568          0.374          -0.988         0              180            0              29
   7  Pillow          1.152          0.739          -0.120         0              0              0              23
   8  Book            1.152          0.646          0.239          0              0              0              23
   9  Box             -0.424         2.065          -2.027         0              352.503        0              36
  10  Pillow          1.720          0.739          -0.299         0              0              0              23
  11  AlarmClock      -1.396         0.837          -2.185         0              0              0              36
  12  BasketBall      -0.337         0.120          1.031          0              0              0              Floor|-00.16|
  13  BaseballBat     -1.602         0.022          0.356          90             8.736          0              Floor|-00.16|
  14  Pen             1.581          0.686          -0.988         0              270            0              31
  15  CellPhone       -0.474         0.839          -2.077         0              0              0              36
  16  TennisRacket    -1.667         0.0            0.818          90             29.999         0              Floor|-00.16|
  17  Laptop          0.300          0.643          0.598          0              0              0              23
  18  Pencil          1.536          0.684          -1.220         0              270            0              31
  19  KeyChain        1.592          0.082          -0.930         0              180            0              30
  20  CreditCard      -0.901         1.347          -2.123         0              0              0              39
  21  CD              -1.569         1.345          -2.235         0              0              0              35
  22  Mirror          0.883          1.582          -2.399         0              180            0
  23  Bed             1.176          -0.002         0.238          0              90             0
  24  LightSwitch     1.899          1.297          -1.302         0              270            0
  25  Poster          -1.927         1.411          -1.455         90             90             0
  26  GarbageCan      0.128          -0.030         -2.146         0              90             0
  27  Window          -2.028         1.388          -0.270         90             270            0
  28  DeskLamp        -1.673         1.774          -2.190         0              0              0
  29  Drawer          1.624          0.453          -0.987         0              270            0
  30  Drawer          1.624          0.163          -0.987         0              270            0
  31  SideTable       1.691          0.002          -0.988         0              270            0
  32  Chair           -1.089         0.009          -1.570         0              166.824        0
  33  Blinds          -1.949         2.158          -0.252         0              90             0
  34  Cabinet         -0.241         1.534          -2.101         0              0              0
  35  Cabinet         -1.301         1.534          -2.101         0              0              0
  36  Desk            -0.962         0.003          -1.942         0              0              0
  37  Cabinet         -1.683         1.534          -2.101         0              0              0
  38  Cabinet         -0.623         1.534          -2.101         0              0              0
  39  Shelf           -0.962         1.534          -2.101         0              0              0
  40  NorthWall
  41  EastWall
  42  SouthWall
  43  WestWall

Plan:
STEP 1: walk forward, take a left, walk to the walk, turn left to face the desk | STEP 2: open cabinet above desk, take CD out, close cabinet | STEP 3: turn around, take a step, turn right, take a step, turn right to face desk | STEP 4: put CD on shelf above desk | END