Task: put the disc on the cabinet to 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           2.25           0.900          -2.0           0              270            0
   1  Mug             2.732          1.226          1.283          0              0              0              42
   2  Bowl            2.685          1.230          1.511          0              270            0              42
   3  CellPhone       -2.575         0.680          -0.281         0              90             0              44
   4  CellPhone       -2.575         0.680          -2.995         0              90             0              37
   5  Pencil          2.556          0.894          -3.089         274.171        0              0              35
   6  Book            2.728          0.902          -3.116         2.930          0              357.569        49
   7  Pillow          -2.440         0.680          -1.861         0              0              0              22
   8  Book            2.188          0.353          -0.296         0              0              0              30
   9  CreditCard      -2.620         0.680          -2.917         0              90             0              37
  10  Pen             2.638          1.234          1.397          0              270            0              42
  11  Pencil          -2.484         0.685          -3.15          0              90             0              37
  12  TeddyBear       -0.667         0.612          -1.364         0              81.467         0              22
  13  Laptop          -1.31          0.612          -1.542         0              0              0              22
  14  AlarmClock      1.867          0.900          -3.320         0              0              0              35
  15  CellPhone       -2.484         0.680          -3.382         0              90             0              37
  16  KeyChain        2.211          0.896          -2.975         0              0              0              35
  17  Pillow          -2.124         0.658          -1.522         0              28.296         0              22
  18  Pillow          -1.025         0.680          -2.061         0              0              0              22
  19  CD              2.732          1.228          1.168          0              270            0              42
  20  Mug             2.211          0.894          -3.389         0              0              0              35
  21  Bowl            2.384          0.898          -3.320         0              0              0              35
  22  Bed             -1.613         -0.028         -1.861         0              270            0
  23  DeskLamp        2.760          0.890          -3.317         0              90             0
  24  DeskLamp        -2.459         0.668          -0.532         0              90             0
  25  LightSwitch     -0.700         1.016          0.334          0              90             0
  26  GarbageCan      1.343          1.087          -3.374         0              0              0
  27  Mirror          0.532          1.419          2.0            0              0              0
  28  Window          -0.834         1.394          -3.653         90             0              0
  29  Window          2.958          1.508          -1.019         90             270            0
  30  Sofa            2.383          0.008          -0.288         0              270            0
  31  Safe            2.721          1.228          1.784          0              270            0
  32  Drawer          1.979          0.486          -2.988         0              0              0
  33  Drawer          1.979          0.728          -2.988         0              0              0
  34  Drawer          1.979          0.208          -2.988         0              0              0
  35  Desk            2.318          -0.009         -3.214         0              0              0
  36  Drawer          -2.349         0.163          -3.150         0              90             0
  37  SideTable       -2.416         -0.001         -3.149         0              90             0
  38  Drawer          -2.349         0.455          -3.150         0              90             0
  39  Drawer          2.641          0.172          1.511          0              270            0
  40  Drawer          2.641          1.002          1.511          0              270            0
  41  Drawer          2.641          0.448          1.511          0              270            0
  42  Dresser         2.676          0.002          1.511          0              270            0
  43  Drawer          2.641          0.725          1.511          0              270            0
  44  SideTable       -2.416         -0.001         -0.514         0              90             0
  45  Drawer          -2.349         0.163          -0.514         0              90             0
  46  Drawer          -2.349         0.455          -0.514         0              90             0
  47  Blinds          -0.800         2.087          -3.627         0              0              0
  48  Blinds          2.931          2.166          -1.0           0              270            0
  49  Chair           2.574          0.002          -2.881         0              175.162        0
  50  NorthWall
  51  EastWall
  52  SouthWall
  53  WestWall

Plan:
STEP 1: turn right, walk to the cabinet | STEP 2: grab the disc on the cabinet | STEP 3: turn around, turn around | STEP 4: open the safe, put the disc in , close the safe | END