Task: Place two blu-ray discs into the safe

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           0.901          0.5            0              180            0
   1  Bowl            0.402          0.972          -1.557         0              270            0              41
   2  CD              -2.249         0.058          -1.754         0              77.664         0              32
   3  CD              0.604          0.970          -1.557         0              270            0              41
   4  CD              -2.185         0.054          -1.826         0              77.664         0              32
   5  CellPhone       0.897          0.418          0.419          0              0              0              51
   6  CellPhone       1.753          0.043          -2.074         0              88.075         0              54
   7  Pen             -0.395         0.611          -1.656         0              270            0              40
   8  Pen             0.201          0.976          -1.926         0              0              0              41
   9  Pencil          -0.401         0.975          -1.557         0              270            0              41
  10  Pencil          -0.401         0.974          -1.778         0              270            0              41
  11  CreditCard      -0.602         0.972          -1.557         0              270            0              41
  12  CreditCard      2.068          0.572          1.512          0              180            0              39
  13  KeyChain        -0.602         0.973          -1.631         0              270            0              41
  14  AlarmClock      -0.200         0.971          -1.705         0              270            0              41
  15  Box             -1.751         0.252          1.499          0              340.773        0              Floor|+00.00|
  16  Book            -0.300         0.801          -1.711         0              270            0              45
  17  Cloth           -1.146         0.000          -2.123         0              0              0              Floor|+00.00|
  18  CellPhone       2.344          0.576          1.240          0              180            0              39
  19  Pencil          -0.581         0.040          -1.711         0              270            0              42
  20  AlarmClock      -0.602         0.972          -1.852         0              270            0              41
  21  TeddyBear       -2.236         0.000          1.457          0              319.128        0              Floor|+00.00|
  22  CreditCard      0.398          0.799          -1.711         0              270            0              43
  23  KeyChain        -0.210         0.606          -1.656         0              270            0              44
  24  Pillow          2.11           0.422          0.331          0              270            0              51
  25  Pillow          2.15           0.433          -0.241         0              282.078        0              51
  26  Laptop          1.640          0.413          -0.080         0              0              0              51
  27  Bowl            0.471          0.965          -1.856         0              0              0              41
  28  Cloth           -1.288         0.000          -1.936         0              357.341        356.936        Floor|+00.00|
  29  CD              2.160          0.569          1.240          0              180            0              39
  30  Pen             2.160          0.571          1.348          0              180            0              39
  31  DeskLamp        2.302          0.561          1.435          0              315            0
  32  GarbageCan      -2.208         -0.023         -1.742         0              77.663         0
  33  Poster          2.439          1.508          0.014          90             270            0
  34  LightSwitch     -2.457         1.274          -0.096         0              90             0
  35  Mirror          2.454          1.322          -1.414         0              90             0
  36  Window          -1.440         1.815          -2.354         90             0              0
  37  Window          1.401          1.815          -2.354         90             0              0
  38  Drawer          2.251          0.468          1.333          0              270            0
  39  SideTable       2.243          -0.001         1.331          0              270            0
  40  Drawer          -0.385         0.681          -1.631         0              0              0
  41  Dresser         0.011          0.001          -1.676         0              0              0
  42  Drawer          -0.385         0.105          -1.631         0              0              0
  43  Drawer          0.408          0.868          -1.632         0              0              0
  44  Drawer          -0.385         0.487          -1.631         0              0              0
  45  Drawer          -0.385         0.868          -1.632         0              0              0
  46  Drawer          0.408          0.681          -1.631         0              0              0
  47  Drawer          0.408          0.105          -1.631         0              0              0
  48  Drawer          0.408          0.292          -1.631         0              0              0
  49  Drawer          -0.385         0.292          -1.631         0              0              0
  50  Drawer          0.408          0.487          -1.631         0              0              0
  51  Bed             1.377          0.004          0.072          0              90             0
  52  Blinds          1.422          3.115          -2.339         0              0              0
  53  Blinds          -1.422         3.115          -2.339         0              0              0
  54  Safe            1.640          0.000          -2.040         0              355.244        0
  55  LaundryHamper   -1.564         0.001          -1.927         0              45             0
  56  NorthWall
  57  EastWall
  58  SouthWall
  59  WestWall

Plan:
STEP 1: approach the blu-ray disc on the bureau across the room | STEP 2: take the blu-ray | STEP 3: turn left, and go to the mirror, then turn right to face the safe | STEP 4: open the safe, put the blu-ray in the safe, and close the safe door | STEP 5: cross the room to the night table with the lit lamp | STEP 6: take the blu-ray disc | STEP 7: cross the room to the safe | STEP 8: open the door, put the blu-ray to the right of the other blu-ray in the safe, and close the safe door | END