Task: Put two compact discs into a desk drawer

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           0.906          1.0            0              0              0
   1  Mug             -1.400         0.979          -1.281         0              0              0              40
   2  Statue          -1.001         1.543          -1.632         0              0              0              42
   3  CD              -0.792         0.981          -1.200         0              0              0              40
   4  CD              -0.995         0.982          -1.200         0              0              0              40
   5  CD              -0.013         0.089          -1.453         0              270            0              31
   6  CellPhone       -0.907         2.053          2.039          0              0              0              34
   7  CellPhone       -1.238         0.740          -1.345         0              0              0              39
   8  Pencil          -1.400         0.984          -1.362         0              0              0              40
   9  CreditCard      -1.238         0.098          -1.210         0              0              0              38
  10  Book            -0.875         2.053          0.575          0              0              0              34
  11  Book            -1.400         0.983          -1.524         0              0              0              40
  12  Pillow          -1.026         0.952          1.453          0              0              0              34
  13  Book            -0.940         2.053          2.332          0              0              0              34
  14  Box             1.563          0.286          -1.069         0              347.500        0
  15  BasketBall      -1.657         0.126          -0.090         0              0              0
  16  Pen             -1.198         0.988          -1.606         0              0              0              40
  17  Pencil          -0.036         0.093          -1.608         0              270            0              31
  18  Laptop          -1.571         0.894          0.868          0              0              0              34
  19  Pillow          -1.163         0.952          2.332          0              0              0              34
  20  KeyChain        -0.792         0.981          -1.606         0              0              0              40
  21  Bowl            -1.183         1.528          -1.590         0              0              0              42
  22  CreditCard      -1.382         1.536          -1.671         0              0              0              42
  23  CellPhone       -1.198         0.982          -1.362         0              0              0              40
  24  CD              -0.621         1.536          -1.671         0              0              0              42
  25  AlarmClock      -0.56          1.528          -1.575         0              0              0              42
  26  Mug             -1.603         0.979          -1.687         0              90             0              40
  27  Statue          -1.503         1.528          -1.590         0              0              0              42
  28  Mirror          1.907          1.387          0.973          0              90             0
  29  LaundryHamper   -0.351         0.007          2.368          0              164.999        0
  30  DeskLamp        -0.343         1.545          -1.564         0              0              0
  31  GarbageCan      -0.035         0.007          -1.530         0              270            0
  32  Window          1.009          1.514          -2.089         90             0              0
  33  LightSwitch     0.397          1.197          2.729          0              180            0
  34  Bed             -1.299         1.937          1.441          0              0              0
  35  Blinds          1.064          2.382          -2.094         0              0              0
  36  Chair           0.884          0.012          -1.433         0              29.871         0
  37  Chair           -0.646         0.007          -1.206         0              195.000        0
  38  Drawer          -1.409         0.233          -1.303         0              0              0
  39  Drawer          -1.407         0.847          -1.302         0              0              0
  40  Desk            -0.993         0.006          -1.410         0              0              0
  41  Drawer          -1.408         0.558          -1.302         0              0              0
  42  Shelf           0.003          0.013          0.035          0              0              0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: Turn left and go to the desk | STEP 2: Pick up the CD on the right | STEP 3: Turn left and turn a full circle to face the desk | STEP 4: Open the bottom desk drawer and place the CD in it. | STEP 5: Go forward to the desk | STEP 6: Pick up the CD | STEP 7: Turn left and turn a full circle to face the desk again | STEP 8: Open the bottom desk drawer, place the CD above the other one, and close the drawer | END