Task: To move a CD from the desk to 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           -0.25          0.901          0.0            0              0              0
   1  CellPhone       0.000          0.974          -1.484         0              270            0              35
   2  Pen             -0.579         0.415          -1.656         0              270            0              43
   3  CreditCard      2.114          0.570          1.512          0              180            0              33
   4  KeyChain        1.807          0.041          -2.072         0              268.075        0              48
   5  Book            0.398          0.412          -1.600         0              270            0              44
   6  Book            0.491          0.037          -1.711         0              270            0              41
   7  AlarmClock      2.252          0.570          1.185          0              180            0              33
   8  Laptop          1.392          0.413          -0.247         0              0              0              45
   9  Box             -1.751         0.252          1.499          0              340.773        0              Floor|+00.00|
  10  Book            -0.209         0.412          -1.656         0              270            0              38
  11  Cloth           -1.146         0.000          -2.123         0              0              0              Floor|+00.00|
  12  CellPhone       0.675          0.413          -1.656         0              270            0              44
  13  Pencil          0.201          0.975          -1.705         0              270            0              35
  14  AlarmClock      0.402          0.972          -1.557         0              270            0              35
  15  TeddyBear       -2.236         0.000          1.457          0              319.128        0              Floor|+00.00|
  16  CreditCard      -0.200         0.972          -1.484         0              270            0              35
  17  KeyChain        -0.602         0.971          -1.778         0              270            0              35
  18  Pillow          0.649          0.477          0.252          0              0              0              45
  19  Pillow          1.640          0.477          0.419          0              0              0              45
  20  Laptop          1.145          0.413          0.252          0              0              0              45
  21  Bowl            0.000          0.972          -1.778         0              270            0              35
  22  Cloth           -1.288         0.000          -1.936         0              357.341        356.936        Floor|+00.00|
  23  CD              -0.200         0.971          -1.778         0              270            0              35
  24  Pen             -0.487         0.041          -1.711         0              270            0              36
  25  DeskLamp        2.302          0.561          1.435          0              315            0
  26  GarbageCan      -2.208         -0.023         -1.742         0              77.663         0
  27  Poster          2.439          1.508          0.014          90             270            0
  28  LightSwitch     -2.457         1.274          -0.096         0              90             0
  29  Mirror          2.454          1.322          -1.414         0              90             0
  30  Window          -1.440         1.815          -2.354         90             0              0
  31  Window          1.401          1.815          -2.354         90             0              0
  32  Drawer          2.251          0.468          1.333          0              270            0
  33  SideTable       2.243          -0.001         1.331          0              270            0
  34  Drawer          -0.385         0.681          -1.631         0              0              0
  35  Dresser         0.011          0.001          -1.676         0              0              0
  36  Drawer          -0.385         0.105          -1.631         0              0              0
  37  Drawer          0.408          0.868          -1.632         0              0              0
  38  Drawer          -0.385         0.487          -1.631         0              0              0
  39  Drawer          -0.385         0.868          -1.632         0              0              0
  40  Drawer          0.408          0.681          -1.631         0              0              0
  41  Drawer          0.408          0.105          -1.631         0              0              0
  42  Drawer          0.408          0.292          -1.631         0              0              0
  43  Drawer          -0.385         0.292          -1.631         0              0              0
  44  Drawer          0.408          0.487          -1.631         0              0              0
  45  Bed             1.377          0.004          0.072          0              90             0
  46  Blinds          1.422          3.115          -2.339         0              0              0
  47  Blinds          -1.422         3.115          -2.339         0              0              0
  48  Safe            1.640          0.000          -2.040         0              355.244        0
  49  LaundryHamper   -1.564         0.001          -1.927         0              45             0
  50  NorthWall
  51  EastWall
  52  SouthWall
  53  WestWall

Plan:
STEP 1: Turn around and walk to the right side of the dresser.  | STEP 2: Pick up the CD to the right of the glass bowl.  | STEP 3: Turn left and walk to the front of the white safe.  | STEP 4: Open the safe door, place the CD inside of it, close the safe door.  | END