Task: Delivering a CD to the nightstand beside the bed in a bowl

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.900          1.25           0              270            0
   1  CD              -1.757         0.664          -2.074         0              0              0              41
   2  CD              -1.608         0.605          -0.721         0              0              0              46
   3  CD              -1.683         0.171          -1.970         0              0              0              43
   4  CellPhone       -1.607         0.800          0.536          0              0              0              47
   5  Pen             -1.730         0.977          0.464          0              0              0              45
   6  Pen             -1.509         0.977          -0.540         0              0              0              45
   7  Pencil          -1.657         0.977          -0.742         0              0              0              45
   8  Pencil          -1.804         0.976          -0.339         0              0              0              45
   9  KeyChain        -1.762         1.639          -1.959         0              180            0              39
  10  AlarmClock      -1.668         1.146          -2.073         0              90             0              40
  11  Book            -1.494         0.035          -0.723         0              0              0              53
  12  KeyChain        2.685          0.434          1.582          0              90             0              61
  13  AlarmClock      -1.730         1.637          -2.073         0              90             0              39
  14  Pillow          0.296          0.836          -0.401         0              0              0              27
  15  Pillow          1.261          0.836          -0.695         0              0              0              27
  16  Vase            -1.662         1.626          -1.791         0              0              0              39
  17  Laptop          1.743          0.773          -1.284         0              0              0              27
  18  Vase            -1.650         1.626          -2.316         0              0              0              39
  19  Pencil          -1.583         0.976          0.464          0              90             0              45
  20  CreditCard      -1.636         1.637          -2.073         0              90             0              39
  21  Boots           -1.842         0.000          -1.077         0              135            0
  22  Pen             -1.730         0.976          -0.540         0              0              0              45
  23  CellPhone       2.222          0.433          1.674          0              90             0              61
  24  CD              -1.436         0.971          -0.742         0              0              0              45
  25  Bowl            -1.684         1.135          -2.300         0              346.900        0              40
  26  Statue          -1.764         0.965          -0.758         0              59.718         0              45
  27  Bed             1.017          0.003          -0.686         0              180            0
  28  HousePlant      -1.749         0.971          0.463          0              0              0
  29  GarbageCan      -1.665         -0.000         0.953          0              45             0
  30  Painting        0.381          1.976          -1.895         90             0              0
  31  Painting        0.879          1.976          -1.895         90             0              0
  32  Painting        1.373          1.976          -1.895         90             0              0
  33  LightSwitch     -0.164         1.085          2.450          0              180            0
  34  Mirror          -1.950         1.735          -0.206         0              270            0
  35  Window          -1.098         1.570          -3.230         90             0              0
  36  DeskLamp        1.404          0.668          2.209          0              0              0
  37  DeskLamp        2.596          0.668          -1.710         0              0              0
  38  Blinds          -1.062         2.361          -3.173         0              0              0
  39  Shelf           -1.675         1.871          -2.053         0              90             0
  40  Shelf           -1.675         1.383          -2.053         0              90             0
  41  Drawer          -1.715         0.832          -2.053         0              90             0
  42  ShelvingUnit    -1.723         0.007          -2.053         0              90             0
  43  Drawer          -1.713         0.339          -2.053         0              90             0
  44  Drawer          -1.629         0.104          0.243          0              90             0
  45  Dresser         -1.674         0.000          -0.153         0              90             0
  46  Drawer          -1.630         0.868          -0.550         0              90             0
  47  Drawer          -1.630         0.680          0.243          0              90             0
  48  Drawer          -1.629         0.104          -0.550         0              90             0
  49  Drawer          -1.630         0.680          -0.550         0              90             0
  50  Drawer          -1.630         0.868          0.243          0              90             0
  51  Drawer          -1.629         0.486          -0.550         0              90             0
  52  Drawer          -1.629         0.291          0.243          0              90             0
  53  Drawer          -1.629         0.291          -0.550         0              90             0
  54  Drawer          -1.630         0.486          0.243          0              90             0
  55  SideTable       1.576          -0.001         2.137          0              180            0
  56  Drawer          1.576          0.163          2.070          0              180            0
  57  Drawer          1.576          0.455          2.070          0              180            0
  58  SideTable       2.437          -0.001         -1.603         0              0              0
  59  Drawer          2.438          0.163          -1.536         0              0              0
  60  Drawer          2.438          0.455          -1.536         0              0              0
  61  ArmChair        2.393          -0.001         1.943          0              180            0
  62  NorthWall
  63  EastWall
  64  SouthWall
  65  WestWall

Plan:
STEP 1: Turn around then turn right at the dresser | STEP 2: Pick up the CD from the dresser | STEP 3: Turn left and then turn right towards the cabinet | STEP 4: Place the CD in the bowl next to the clock | STEP 5: Pick up the bowl with the CD and turn right | STEP 6: Turn right and go towards the door before turning right again and passing by the end of the bed and turning right on the other side of the bed closest to the wall towards a nightstand | STEP 7: Place the Bowl with the CD on the nightstand just to the right of the lamp | END