Task: Put two cd's on the cabinet

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.901          -1.75          0              180            0
   1  Mug             -1.582         0.597          -0.533         0              0              0              48
   2  Mug             0.651          0.728          -2.471         0              180            0              41
   3  Vase            1.384          0.055          -2.303         0              0              0              57
   4  CD              1.917          1.577          -2.277         0              0              0              32
   5  CD              -1.794         0.216          -1.222         0              0              0              49
   6  CellPhone       -1.515         0.599          0.031          0              0              0              48
   7  CellPhone       0.421          0.730          -2.764         0              180            0              41
   8  CreditCard      -1.755         0.508          -1.023         0              0              0              50
   9  KeyChain        -1.515         0.599          -0.392         0              0              0              48
  10  Box             1.996          0.316          -1.042         0              254.839        0
  11  Book            -1.714         0.600          -0.250         0              0              0              48
  12  Pillow          -1.548         0.457          -1.831         0              90             0              47
  13  CellPhone       0.191          0.728          -2.530         0              180            0              41
  14  Vase            0.766          0.731          -2.647         0              180            0              41
  15  BaseballBat     -1.629         0.649          0.416          14.491         0              0
  16  CreditCard      -1.755         0.508          -1.274         0              0              0              50
  17  TennisRacket    2.244          0.279          -1.901         335.402        251.974        201.714
  18  KeyChain        -1.744         0.365          -1.113         0              0              0              51
  19  AlarmClock      0.536          0.730          -2.647         0              180            0              41
  20  Cloth           2.176          0.0            -0.571         0              335.474        0
  21  Laptop          -0.794         0.415          -1.733         0              0              0              47
  22  CD              -1.769         0.216          -1.113         0              0              0              49
  23  CD              2.238          0.044          0.288          0              225            0              36
  24  Pen             1.851          0.361          -2.261         0              0              0              56
  25  Pencil          1.853          1.182          -2.256         0              0              0              30
  26  Mug             0.191          0.726          -2.764         0              180            0              41
  27  Shelf           1.311          0.969          -2.298         0              0              0
  28  Shelf           1.843          0.969          -2.298         0              0              0
  29  Shelf           1.311          1.171          -2.298         0              0              0
  30  Shelf           1.843          1.171          -2.298         0              0              0
  31  Shelf           1.311          1.368          -2.298         0              0              0
  32  Shelf           1.843          1.570          -2.298         0              0              0
  33  Shelf           1.843          1.368          -2.298         0              0              0
  34  Shelf           1.311          1.570          -2.298         0              0              0
  35  DeskLamp        -1.848         0.592          -0.786         0              90             0
  36  GarbageCan      2.197          -0.007         0.298          0              232.025        0
  37  LightSwitch     -0.638         1.149          0.499          0              180            0
  38  Poster          0.001          1.495          -2.642         90             90             0
  39  Mirror          -1.072         1.469          0.497          0              0              0
  40  Window          0.435          1.398          -2.855         90             0              0
  41  SideTable       0.435          0.036          -2.647         0              0              0
  42  Drawer          0.433          0.203          -2.445         0              0              0
  43  Drawer          0.433          0.505          -2.445         0              0              0
  44  Dumbbell        -1.656         0.602          -0.534         0              90             0
  45  Blinds          0.449          2.164          -2.845         0              0              0
  46  GarbageBag      1.730          0.318          0.222          270            90             83.412
  47  Bed             -1.047         -0.000         -1.851         0              270            0
  48  Desk            -1.710         0.000          -0.374         0              90             0
  49  Drawer          -1.790         0.245          -1.144         0              90             0
  50  SideTable       -1.824         0.000          -1.144         0              90             0
  51  Drawer          -1.790         0.392          -1.144         0              90             0
  52  Drawer          -1.790         0.097          -1.144         0              90             0
  53  Chair           -1.453         0.005          -0.311         0              286.095        0
  54  Shelf           1.591          0.606          -2.305         0              0              0
  55  ShelvingUnit    1.588          0.004          -2.326         0              0              0
  56  Shelf           1.854          0.453          -2.298         0              0              0
  57  Shelf           1.321          0.155          -2.296         0              0              0
  58  Shelf           1.323          0.456          -2.300         0              0              0
  59  Shelf           1.852          0.152          -2.294         0              0              0
  60  NorthWall
  61  EastWall
  62  SouthWall
  63  WestWall

Plan:
STEP 1: Turn right then head to your left facing the side drawer on the bed | STEP 2: Open the second drawer and pick up the cd | STEP 3: Turn left walk past the end of the bed then turn right facing the cabinet | STEP 4: Put the cd on top of the cabinet | STEP 5: Turn right head back to the side drawer | STEP 6: Open the second drawer and pick up the cd | STEP 7: Turn left and head back to the cabinet | STEP 8: Put the cd on the right side of the cabinet beside the cell phone | END