Task: move a CD from a desk to a table

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          2.75           0              180            0
   1  CellPhone       1.417          0.434          1.605          0              180            0              63
   2  CellPhone       -0.685         0.067          3.209          0              0              0              44
   3  Pen             1.515          0.732          -0.010         0              270            0              60
   4  Pen             -0.626         0.984          -1.603         0              0              0              51
   5  Pencil          1.710          0.730          -0.748         0              270            0              60
   6  Pencil          1.768          0.526          -0.316         0              90             0              59
   7  CreditCard      -0.445         0.504          3.043          0              0              0              45
   8  CreditCard      1.768          0.314          -0.316         0              90             0              62
   9  KeyChain        -0.589         0.285          3.126          0              0              0              47
  10  Book            1.612          0.729          -0.502         0              270            0              60
  11  Book            -0.626         0.982          -1.322         0              0              0              51
  12  Laptop          -0.596         1.498          -0.496         0              0              0              50
  13  Laptop          -0.782         0.675          2.177          0              90             0              36
  14  Book            -0.562         1.841          1.631          0              0              0              55
  15  Box             -0.493         0.2            -0.286         0              84.024         0
  16  TennisRacket    -1.345         0.288          0.233          30.000         270            180
  17  Pen             -0.667         0.674          2.988          0              90             0              46
  18  AlarmClock      -0.692         0.678          1.245          0              90             0              36
  19  Pillow          -0.63          1.871          3.047          0              0              0              55
  20  Pillow          -1.002         1.585          -0.942         0              0              0              50
  21  CellPhone       1.502          0.434          1.883          0              180            0              63
  22  KeyChain        -0.607         0.738          -1.403         0              0              0              52
  23  CreditCard      -0.386         0.668          3.162          0              90             0              46
  24  CD              -0.513         0.677          1.991          0              90             0              36
  25  Pencil          -0.423         0.681          1.991          0              90             0              36
  26  Laptop          1.612          0.724          0.482          0              270            0              60
  27  Mug             -0.543         0.976          -1.040         0              0              0              51
  28  DeskLamp        2.016          0.701          0.708          0              0              0
  29  Painting        2.199          1.771          -0.101         90             270            0
  30  GarbageCan      2.022          -0.037         -1.239         0              270            0
  31  Mirror          2.229          1.254          2.664          0              90             0
  32  LightSwitch     2.199          1.258          1.988          0              270            0
  33  Window          1.575          1.559          -1.953         90             180            0
  34  Drawer          -0.551         0.578          2.246          0              90             0
  35  Cabinet         -0.649         0.270          2.247          0              90             0
  36  Desk            -0.655         0.006          1.814          0              90             0
  37  Shelf           1.769          0.184          0.757          0              270            0
  38  Shelf           1.769          0.572          0.757          0              270            0
  39  Shelf           1.769          0.572          0.935          0              270            0
  40  Shelf           1.769          0.378          0.935          0              270            0
  41  Shelf           1.769          0.378          0.757          0              270            0
  42  Shelf           1.769          0.184          0.935          0              270            0
  43  Blinds          1.547          2.434          -1.886         0              0              0
  44  Drawer          -0.553         0.155          2.942          0              90             0
  45  Drawer          -0.553         0.572          2.942          0              90             0
  46  Dresser         -0.665         0.001          2.939          0              90             0
  47  Drawer          -0.553         0.376          2.942          0              90             0
  48  Chair           1.482          0.012          0.223          0              77.085         0
  49  Chair           -0.199         0.012          1.538          0              287.086        0
  50  Bed             -0.866         0.007          -0.919         0              0              0
  51  Dresser         -0.772         0.001          -1.313         0              90             0
  52  Drawer          -0.660         0.830          -1.309         0              90             0
  53  Drawer          -0.660         0.225          -1.309         0              90             0
  54  Drawer          -0.660         0.547          -1.309         0              90             0
  55  Bed             -0.872         1.637          2.188          0              0              0
  56  Drawer          1.685          0.160          -0.805         0              270            0
  57  Drawer          1.685          0.160          -0.378         0              270            0
  58  Drawer          1.685          0.547          -0.805         0              270            0
  59  Drawer          1.685          0.547          -0.378         0              270            0
  60  Desk            1.812          0.003          -0.014         0              270            0
  61  Drawer          1.685          0.354          -0.805         0              270            0
  62  Drawer          1.685          0.354          -0.378         0              270            0
  63  ArmChair        1.712          -0.000         1.532          0              270            0
  64  NorthWall
  65  EastWall
  66  SouthWall
  67  WestWall

Plan:
STEP 1: walk forward a few steps, turn right, walk to the desk with a CD on it | STEP 2: Pick up the CD that is on the desk | STEP 3: walk to the small table to the right of the two desks | STEP 4: put the CD on the table | END