Task: Place a CD on 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          -1.0           0              270            0
   1  CD              2.205          0.680          -1.581         0              0              0              59
   2  CellPhone       2.205          0.681          -1.762         0              0              0              59
   3  CellPhone       2.136          0.442          2.099          0              90             0              62
   4  Pen             1.498          0.686          2.262          0              90             0              56
   5  Pen             -1.730         0.977          -0.540         0              0              0              46
   6  CreditCard      -1.608         0.216          -0.536         0              0              0              54
   7  Book            0.296          0.774          -0.990         0              0              0              28
   8  Book            -1.550         0.799          0.256          0              0              0              51
   9  AlarmClock      1.576          0.680          2.308          0              0              0              56
  10  AlarmClock      2.437          0.680          -1.762         0              0              0              59
  11  Pillow          0.778          0.836          -0.695         0              0              0              28
  12  Book            0.296          0.774          -1.284         0              0              0              28
  13  KeyChain        2.321          0.434          2.096          0              270            0              62
  14  AlarmClock      -1.636         1.146          -1.959         0              90             0              41
  15  Pillow          0.537          0.836          0.188          0              0              0              28
  16  Pillow          2.410          0.513          1.841          0              90             0              62
  17  Vase            -1.730         0.971          -0.339         0              0              0              46
  18  Laptop          1.502          0.773          -1.284         0              0              0              28
  19  Vase            -1.650         1.626          -2.316         0              0              0              40
  20  Pencil          2.380          0.088          -1.615         0              180            0              60
  21  CreditCard      2.689          0.439          1.837          0              90             0              62
  22  Boots           -1.842         0.000          -1.077         0              135            0
  23  Pen             1.576          0.686          2.172          0              90             0              56
  24  CellPhone       -1.552         0.218          0.255          0              0              0              53
  25  CD              -1.509         0.971          -0.742         0              0              0              46
  26  Bowl            -1.684         1.135          -2.300         0              346.900        0              41
  27  Statue          -1.804         0.982          0.263          0              180            0              46
  28  Bed             1.017          0.003          -0.686         0              180            0
  29  HousePlant      -1.749         0.971          0.463          0              0              0
  30  GarbageCan      -1.665         -0.000         0.953          0              45             0
  31  Painting        0.381          1.976          -1.895         90             0              0
  32  Painting        0.879          1.976          -1.895         90             0              0
  33  Painting        1.373          1.976          -1.895         90             0              0
  34  LightSwitch     -0.164         1.085          2.450          0              180            0
  35  Mirror          -1.950         1.735          -0.206         0              270            0
  36  Window          -1.098         1.570          -3.230         90             0              0
  37  DeskLamp        1.404          0.668          2.209          0              0              0
  38  DeskLamp        2.596          0.668          -1.710         0              0              0
  39  Blinds          -1.062         2.361          -3.173         0              0              0
  40  Shelf           -1.675         1.871          -2.053         0              90             0
  41  Shelf           -1.675         1.383          -2.053         0              90             0
  42  Drawer          -1.715         0.832          -2.053         0              90             0
  43  ShelvingUnit    -1.723         0.007          -2.053         0              90             0
  44  Drawer          -1.713         0.339          -2.053         0              90             0
  45  Drawer          -1.629         0.104          0.243          0              90             0
  46  Dresser         -1.674         0.000          -0.153         0              90             0
  47  Drawer          -1.630         0.868          -0.550         0              90             0
  48  Drawer          -1.630         0.680          0.243          0              90             0
  49  Drawer          -1.629         0.104          -0.550         0              90             0
  50  Drawer          -1.630         0.680          -0.550         0              90             0
  51  Drawer          -1.630         0.868          0.243          0              90             0
  52  Drawer          -1.629         0.486          -0.550         0              90             0
  53  Drawer          -1.629         0.291          0.243          0              90             0
  54  Drawer          -1.629         0.291          -0.550         0              90             0
  55  Drawer          -1.630         0.486          0.243          0              90             0
  56  SideTable       1.576          -0.001         2.137          0              180            0
  57  Drawer          1.576          0.163          2.070          0              180            0
  58  Drawer          1.576          0.455          2.070          0              180            0
  59  SideTable       2.437          -0.001         -1.603         0              0              0
  60  Drawer          2.438          0.163          -1.536         0              0              0
  61  Drawer          2.438          0.455          -1.536         0              0              0
  62  ArmChair        2.393          -0.001         1.943          0              180            0
  63  NorthWall
  64  EastWall
  65  SouthWall
  66  WestWall

Plan:
STEP 1: Move to the area between the dresser and the bookcase and then turn right to face the dresser. | STEP 2: Pick up the CD from the dresser that is in front of the pen. | STEP 3: Turn around and move to the window then turn right and face the bookcase. | STEP 4: Place the CD between the bowl and the alarm clock on the middle shelf of the bookcase. | END