Task: Move a CD from the desk to the top of 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           0.5            0.900          -1.0           0              0              0
   1  Mug             2.556          0.894          -3.389         0              0              0              39
   2  Mug             2.556          0.894          -3.044         0              90             0              39
   3  CD              1.371          0.019          -3.375         0              0              0              30
   4  CellPhone       2.336          0.307          -0.073         0              0              0              34
   5  CellPhone       2.728          0.896          -3.044         0              0              0              39
   6  Pencil          -2.575         0.685          -0.436         0              90             0              48
   7  Pencil          -2.484         0.678          -0.668         0              90             0              48
   8  CreditCard      2.732          1.228          1.397          0              270            0              46
   9  KeyChain        2.706          1.249          1.796          0              0              0              35
  10  Laptop          -2.157         0.617          -2.061         0              0              0              26
  11  Pillow          -0.742         0.680          -1.861         0              0              0              26
  12  Book            -2.484         0.680          -2.995         0              90             0              41
  13  CreditCard      -2.575         0.680          -0.359         0              90             0              48
  14  Pen             1.867          0.902          -3.044         0              0              0              39
  15  Pencil          -2.620         0.685          -3.304         0              90             0              41
  16  TeddyBear       -0.667         0.612          -1.364         0              81.467         0              26
  17  Laptop          -1.31          0.612          -1.542         0              0              0              26
  18  AlarmClock      -2.394         0.684          -3.227         0              90             0              41
  19  CellPhone       2.678          0.092          1.595          0              270            0              43
  20  KeyChain        1.694          0.896          -3.251         0              180            0              39
  21  Pillow          -1.308         0.680          -2.061         0              0              0              26
  22  Pillow          -1.591         0.680          -2.461         0              0              0              26
  23  CD              2.556          0.896          -3.182         0              0              0              39
  24  Mug             -2.439         0.679          -3.382         0              90             0              41
  25  Bowl            2.384          0.898          -3.113         0              0              0              39
  26  Bed             -1.613         -0.028         -1.861         0              270            0
  27  DeskLamp        2.760          0.890          -3.317         0              90             0
  28  DeskLamp        -2.459         0.668          -0.532         0              90             0
  29  LightSwitch     -0.700         1.016          0.334          0              90             0
  30  GarbageCan      1.343          1.087          -3.374         0              0              0
  31  Mirror          0.532          1.419          2.0            0              0              0
  32  Window          -0.834         1.394          -3.653         90             0              0
  33  Window          2.958          1.508          -1.019         90             270            0
  34  Sofa            2.383          0.008          -0.288         0              270            0
  35  Safe            2.721          1.228          1.784          0              270            0
  36  Drawer          1.979          0.486          -2.988         0              0              0
  37  Drawer          1.979          0.728          -2.988         0              0              0
  38  Drawer          1.979          0.208          -2.988         0              0              0
  39  Desk            2.318          -0.009         -3.214         0              0              0
  40  Drawer          -2.349         0.163          -3.150         0              90             0
  41  SideTable       -2.416         -0.001         -3.149         0              90             0
  42  Drawer          -2.349         0.455          -3.150         0              90             0
  43  Drawer          2.641          0.172          1.511          0              270            0
  44  Drawer          2.641          1.002          1.511          0              270            0
  45  Drawer          2.641          0.448          1.511          0              270            0
  46  Dresser         2.676          0.002          1.511          0              270            0
  47  Drawer          2.641          0.725          1.511          0              270            0
  48  SideTable       -2.416         -0.001         -0.514         0              90             0
  49  Drawer          -2.349         0.163          -0.514         0              90             0
  50  Drawer          -2.349         0.455          -0.514         0              90             0
  51  Blinds          -0.800         2.087          -3.627         0              0              0
  52  Blinds          2.931          2.166          -1.0           0              270            0
  53  Chair           2.574          0.002          -2.881         0              175.162        0
  54  NorthWall
  55  EastWall
  56  SouthWall
  57  WestWall

Plan:
STEP 1: Turn around and cross the room to the brown desk with a chair in front of it.  | STEP 2: Pick up the CD that is behind the black coffee mug toward the front of the desk.  | STEP 3: Turn around and move to the brown dresser with 4 drawers in the far left corner of the room.  | STEP 4: Put the CD on top of the dresser next to the white safe.  | END