Task: move the disc from back of the desk to the shelf underneath

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            0.899          -2.75          0              180            0
   1  Mug             3.209          0.789          -1.121         0              0              0              70
   2  Mug             -3.011         1.139          -2.621         0              90             0              50
   3  Bowl            0.954          1.141          -1.730         0              270            0              53
   4  Bowl            -2.979         1.413          -2.805         0              90             0              54
   5  Watch           2.962          0.793          -1.403         0              0              0              70
   6  CD              3.332          0.792          -1.968         0              0              0              70
   7  CD              3.024          0.792          -2.250         0              0              0              70
   8  CellPhone       3.086          0.791          -1.121         0              0              0              70
   9  Pen             3.147          0.798          -1.403         0              0              0              70
  10  Pencil          3.024          0.797          -1.686         0              0              0              70
  11  CreditCard      -2.916         1.413          -2.621         0              90             0              54
  12  CreditCard      -1.592         0.613          0.381          0              180            0              74
  13  KeyChain        -1.522         0.615          0.462          0              180            0              74
  14  KeyChain        3.024          0.794          -0.556         0              0              0              70
  15  Book            -2.155         0.599          -0.317         0              0              0              42
  16  Book            -0.175         0.614          -0.035         0              0              0              43
  17  AlarmClock      0.954          1.142          -1.546         0              270            0              53
  18  AlarmClock      3.024          0.794          -1.968         0              0              0              70
  19  Laptop          -2.307         0.598          -1.442         0              0              0              42
  20  Laptop          -0.479         0.614          -0.879         0              0              0              43
  21  Book            -0.175         0.614          -1.442         0              0              0              43
  22  Laptop          -0.631         0.614          -0.317         0              0              0              43
  23  KeyChain        -1.383         0.615          0.381          0              180            0              74
  24  Cloth           0.970          -0.001         -2.404         0              0              0
  25  BaseballBat     -2.982         0.015          -2.698         270            350.597        0
  26  BasketBall      -2.718         0.118          -1.925         0              0              0
  27  Pillow          -0.936         0.693          -1.442         0              0              0              43
  28  Pillow          -0.626         0.650          0.129          0              0              0              43
  29  TennisRacket    -3.018         0.301          -2.199         19.103         272.232        184.978
  30  Pencil          -1.662         0.619          0.462          0              180            0              74
  31  CreditCard      3.209          0.792          -1.968         0              0              0              70
  32  Cloth           0.911          0.025          -2.702         0              0              0
  33  TeddyBear       -2.645         0.624          -0.402         0              286.876        0              42
  34  Pen             -1.453         0.619          0.340          0              180            0              74
  35  Cloth           0.705          -0.001         -2.75          0              270            0
  36  AlarmClock      3.209          0.792          -2.250         0              0              0              70
  37  Watch           0.828          1.141          -2.347         0              270            0              52
  38  CellPhone       -1.731         0.614          0.381          0              180            0              74
  39  CD              -1.471         0.337          0.350          0              0              0              72
  40  Mug             3.209          0.789          -1.686         0              0              0              70
  41  Bowl            -2.948         1.413          -2.326         0              90             0              51
  42  Bed             -2.455         -0.000         -0.572         0              0              0
  43  Bed             -0.634         -0.000         -0.567         0              0              0
  44  Chair           2.828          -0.002         -0.004         0              245.795        0
  45  Chair           2.727          -0.002         -1.210         0              95.225         0
  46  GarbageCan      1.707          -0.003         -2.785         0              59.967         0
  47  Shelf           0.922          1.133          -2.163         0              270            0
  48  Shelf           -2.948         1.405          -1.621         0              90             0
  49  Shelf           0.922          1.405          -2.163         0              270            0
  50  Shelf           -2.948         1.133          -2.188         0              90             0
  51  Shelf           -2.948         1.405          -2.188         0              90             0
  52  Shelf           0.922          1.133          -2.729         0              270            0
  53  Shelf           0.922          1.133          -1.616         0              270            0
  54  Shelf           -2.948         1.405          -2.735         0              90             0
  55  Shelf           0.922          1.405          -1.616         0              270            0
  56  Shelf           -2.948         1.133          -2.735         0              90             0
  57  Shelf           0.922          1.405          -2.729         0              270            0
  58  Shelf           -2.948         1.133          -1.621         0              90             0
  59  LightSwitch     -0.142         1.328          0.600          0              180            0
  60  Poster          3.400          1.863          -1.976         90             90             0
  61  Poster          3.400          1.702          -0.792         90             90             0
  62  DeskLamp        3.126          0.789          -0.638         0              3.649          0
  63  Mirror          0.453          1.491          0.616          0              0              0
  64  Window          2.278          0.925          -3.184         90             0              0
  65  Window          -1.019         0.925          -3.184         90             0              0
  66  Blinds          -1.003         2.072          -3.177         0              0              0
  67  Blinds          2.292          2.072          -3.177         0              0              0
  68  Shelf           3.124          0.633          -0.564         0              270            0
  69  Shelf           3.124          0.633          -2.267         0              270            0
  70  Desk            3.141          -0.000         -1.414         0              270            0
  71  Desktop         3.101          0.792          -1.236         358.565        270            0
  72  Drawer          -1.523         0.408          0.346          0              180            0
  73  Drawer          -1.523         0.141          0.346          0              180            0
  74  SideTable       -1.522         -0.001         0.411          0              180            0
  75  NorthWall
  76  EastWall
  77  SouthWall
  78  WestWall

Plan:
STEP 1: turn around, walk to the desk on the right | STEP 2: grab the disc on the table in the back | STEP 3: turn around, turn around to the desk | STEP 4: put the disc on the shelf under the desk | END