Task: put a CD on to the dresser

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.901          -1.5           0              0              0
   1  Mug             -0.626         0.976          -1.416         0              0              0              47
   2  CD              2.003          0.726          -0.256         0              270            0              56
   3  CD              1.417          0.432          1.605          0              180            0              59
   4  CD              -0.672         0.065          2.091          0              0              0              31
   5  Pen             -0.961         0.683          2.364          0              90             0              32
   6  CreditCard      1.417          0.432          1.883          0              180            0              59
   7  CreditCard      1.672          0.440          1.697          0              180            0              59
   8  KeyChain        1.612          0.726          0.236          0              90             0              56
   9  Laptop          -1.137         1.498          -0.719         0              0              0              46
  10  Book            -1.137         1.504          -1.166         0              0              0              46
  11  Box             -0.493         0.2            -0.286         0              84.024         0
  12  TennisRacket    -1.345         0.288          0.233          30.000         270            180
  13  Pen             1.710          0.732          -0.502         0              270            0              56
  14  AlarmClock      -0.761         0.669          2.902          0              90             0              42
  15  Pillow          -0.63          1.871          3.047          0              0              0              51
  16  Pillow          -0.829         1.549          -1.533         0              0              0              46
  17  CellPhone       -0.501         0.980          -1.509         0              0              0              47
  18  KeyChain        1.926          0.433          1.605          0              0              0              59
  19  CreditCard      1.710          0.726          -0.748         0              270            0              56
  20  CD              1.587          0.444          1.605          0              180            0              59
  21  Pencil          -0.668         0.982          -1.228         0              0              0              47
  22  Laptop          -0.513         0.675          2.177          0              90             0              32
  23  Mug             -0.672         0.063          2.379          0              0              0              31
  24  DeskLamp        2.016          0.701          0.708          0              0              0
  25  Painting        2.199          1.771          -0.101         90             270            0
  26  GarbageCan      2.022          -0.037         -1.239         0              270            0
  27  Mirror          2.229          1.254          2.664          0              90             0
  28  LightSwitch     2.199          1.258          1.988          0              270            0
  29  Window          1.575          1.559          -1.953         90             180            0
  30  Drawer          -0.551         0.578          2.246          0              90             0
  31  Cabinet         -0.649         0.270          2.247          0              90             0
  32  Desk            -0.655         0.006          1.814          0              90             0
  33  Shelf           1.769          0.184          0.757          0              270            0
  34  Shelf           1.769          0.572          0.757          0              270            0
  35  Shelf           1.769          0.572          0.935          0              270            0
  36  Shelf           1.769          0.378          0.935          0              270            0
  37  Shelf           1.769          0.378          0.757          0              270            0
  38  Shelf           1.769          0.184          0.935          0              270            0
  39  Blinds          1.547          2.434          -1.886         0              0              0
  40  Drawer          -0.553         0.155          2.942          0              90             0
  41  Drawer          -0.553         0.572          2.942          0              90             0
  42  Dresser         -0.665         0.001          2.939          0              90             0
  43  Drawer          -0.553         0.376          2.942          0              90             0
  44  Chair           1.482          0.012          0.223          0              77.085         0
  45  Chair           -0.199         0.012          1.538          0              287.086        0
  46  Bed             -0.866         0.007          -0.919         0              0              0
  47  Dresser         -0.772         0.001          -1.313         0              90             0
  48  Drawer          -0.660         0.830          -1.309         0              90             0
  49  Drawer          -0.660         0.225          -1.309         0              90             0
  50  Drawer          -0.660         0.547          -1.309         0              90             0
  51  Bed             -0.872         1.637          2.188          0              0              0
  52  Drawer          1.685          0.160          -0.805         0              270            0
  53  Drawer          1.685          0.160          -0.378         0              270            0
  54  Drawer          1.685          0.547          -0.805         0              270            0
  55  Drawer          1.685          0.547          -0.378         0              270            0
  56  Desk            1.812          0.003          -0.014         0              270            0
  57  Drawer          1.685          0.354          -0.805         0              270            0
  58  Drawer          1.685          0.354          -0.378         0              270            0
  59  ArmChair        1.712          -0.000         1.532          0              270            0
  60  NorthWall
  61  EastWall
  62  SouthWall
  63  WestWall

Plan:
STEP 1: turn to the right to face the desk | STEP 2: pick up the CD from the back of the desk | STEP 3: turn around and move across the room to the brown dresser underneath the bunk bed | STEP 4: put the CD on the right side of the front part of the dresser | END