Task: Place a CD in a safe.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.0           0.901          0.25           0              0              0
   1  CD              0.677          0.216          -1.487         0              270            0              45
   2  CD              0.583          0.409          -1.769         0              270            0              47
   3  CellPhone       2.135          0.418          0.252          0              0              0              48
   4  CellPhone       -0.117         0.413          -1.712         0              270            0              41
   5  CreditCard      -0.401         0.972          -1.484         0              270            0              38
   6  CreditCard      0.402          0.972          -1.557         0              270            0              38
   7  KeyChain        0.604          0.973          -1.631         0              270            0              38
   8  KeyChain        2.068          0.573          1.512          0              270            0              36
   9  Book            -0.487         0.038          -1.655         0              270            0              39
  10  Pillow          1.640          0.477          -0.080         0              0              0              48
  11  Laptop          0.897          0.413          -0.080         0              0              0              48
  12  Box             -1.751         0.252          1.499          0              340.773        0              Floor|+00.00|
  13  Book            0.305          0.607          -1.712         0              270            0              43
  14  Cloth           -1.146         0.000          -2.123         0              0              0              Floor|+00.00|
  15  CellPhone       0.000          0.975          -1.484         0              270            0              38
  16  Pencil          -0.303         0.609          -1.712         0              270            0              37
  17  AlarmClock      2.153          0.565          1.23           0              213.033        0              36
  18  TeddyBear       -2.236         0.000          1.457          0              319.128        0              Floor|+00.00|
  19  CreditCard      2.344          0.572          1.294          0              180            0              36
  20  KeyChain        -0.581         0.801          -1.655         0              270            0              42
  21  Pillow          1.640          0.477          0.419          0              0              0              48
  22  Pillow          2.15           0.433          -0.241         0              282.078        0              48
  23  Laptop          -0.5           0.965          -1.715         0              24.156         0              38
  24  Bowl            0.000          0.972          -1.852         0              270            0              38
  25  Cloth           -1.288         0.000          -1.936         0              357.341        356.936        Floor|+00.00|
  26  CD              -0.581         0.035          -1.768         0              270            0              39
  27  Pen             0.604          0.977          -1.557         0              270            0              38
  28  DeskLamp        2.302          0.561          1.435          0              315            0
  29  GarbageCan      -2.208         -0.023         -1.742         0              77.663         0
  30  Poster          2.439          1.508          0.014          90             270            0
  31  LightSwitch     -2.457         1.274          -0.096         0              90             0
  32  Mirror          2.454          1.322          -1.414         0              90             0
  33  Window          -1.440         1.815          -2.354         90             0              0
  34  Window          1.401          1.815          -2.354         90             0              0
  35  Drawer          2.251          0.468          1.333          0              270            0
  36  SideTable       2.243          -0.001         1.331          0              270            0
  37  Drawer          -0.385         0.681          -1.631         0              0              0
  38  Dresser         0.011          0.001          -1.676         0              0              0
  39  Drawer          -0.385         0.105          -1.631         0              0              0
  40  Drawer          0.408          0.868          -1.632         0              0              0
  41  Drawer          -0.385         0.487          -1.631         0              0              0
  42  Drawer          -0.385         0.868          -1.632         0              0              0
  43  Drawer          0.408          0.681          -1.631         0              0              0
  44  Drawer          0.408          0.105          -1.631         0              0              0
  45  Drawer          0.408          0.292          -1.631         0              0              0
  46  Drawer          -0.385         0.292          -1.631         0              0              0
  47  Drawer          0.408          0.487          -1.631         0              0              0
  48  Bed             1.377          0.004          0.072          0              90             0
  49  Blinds          1.422          3.115          -2.339         0              0              0
  50  Blinds          -1.422         3.115          -2.339         0              0              0
  51  Safe            1.640          0.000          -2.040         0              355.244        0
  52  LaundryHamper   -1.564         0.001          -1.927         0              45             0
  53  NorthWall
  54  EastWall
  55  SouthWall
  56  WestWall

Plan:
STEP 1: turn to the right and go to the bed and turn right and go to the dresser and turn left and go to the end of the dresser and turn right and take a step and turn right | STEP 2: open the fourth dresser drawer and take out the CD from the drawer and close the drawer | STEP 3: turn to the right and take a step and turn to the right and go to the wall and turn to the right facing the safe | STEP 4: open up the safe and put the CD in the safe and close the safe | END