Task: Put two cds on the shelf of the desk

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           0.899          0.0            0              180            0
   1  Mug             0.891          1.411          -1.607         0              270            0              47
   2  Bowl            -2.948         1.141          -2.133         0              90             0              42
   3  Watch           -1.676         0.338          0.393          0              0              0              64
   4  CD              3.086          0.791          -0.838         0              0              0              62
   5  CD              3.147          0.792          -1.968         0              0              0              62
   6  CellPhone       -2.155         0.600          0.245          0              0              0              34
   7  Pen             3.209          0.798          -1.121         0              0              0              62
   8  Pen             2.993          0.546          -0.439         0              270            0              60
   9  Pencil          -1.592         0.619          0.381          0              180            0              66
  10  CreditCard      -1.522         0.613          0.462          0              180            0              66
  11  Book            -0.479         0.614          -0.317         0              0              0              35
  12  Pillow          -0.479         0.693          -0.879         0              0              0              35
  13  Book            3.18           0.785          -1.541         0              21.311         0              62
  14  Laptop          3.154          0.785          -2.267         0              270            0              62
  15  KeyChain        0.954          1.143          -1.730         0              0              0              45
  16  Cloth           0.970          -0.001         -2.404         0              0              0
  17  BaseballBat     -2.982         0.015          -2.698         270            350.597        0
  18  BasketBall      -2.718         0.118          -1.925         0              0              0
  19  Pillow          -2.465         0.661          0.110          0              0              0              34
  20  Pillow          -2.46          0.678          -1.442         0              0              0              34
  21  TennisRacket    -3.018         0.301          -2.199         19.103         272.232        184.978
  22  Pencil          -2.916         1.147          -1.564         0              90             0              50
  23  CreditCard      0.922          1.413          -2.920         0              270            0              49
  24  Cloth           0.911          0.025          -2.702         0              0              0
  25  TeddyBear       -2.645         0.624          -0.402         0              286.876        0              34
  26  Pen             3.086          0.798          -1.121         0              0              0              62
  27  Cloth           0.705          -0.001         -2.75          0              270            0
  28  AlarmClock      -2.885         1.414          -2.682         0              90             0              46
  29  Watch           -2.948         1.413          -2.004         0              90             0              43
  30  CellPhone       0.954          1.413          -2.025         0              270            0              41
  31  CD              -1.471         0.074          0.371          0              0              0              65
  32  Mug             -2.885         1.411          -2.805         0              90             0              43
  33  Bowl            -2.979         1.141          -2.866         0              90             0              48
  34  Bed             -2.455         -0.000         -0.572         0              0              0
  35  Bed             -0.634         -0.000         -0.567         0              0              0
  36  Chair           2.828          -0.002         -0.004         0              245.795        0
  37  Chair           2.727          -0.002         -1.210         0              95.225         0
  38  GarbageCan      1.707          -0.003         -2.785         0              59.967         0
  39  Shelf           0.922          1.133          -2.163         0              270            0
  40  Shelf           -2.948         1.405          -1.621         0              90             0
  41  Shelf           0.922          1.405          -2.163         0              270            0
  42  Shelf           -2.948         1.133          -2.188         0              90             0
  43  Shelf           -2.948         1.405          -2.188         0              90             0
  44  Shelf           0.922          1.133          -2.729         0              270            0
  45  Shelf           0.922          1.133          -1.616         0              270            0
  46  Shelf           -2.948         1.405          -2.735         0              90             0
  47  Shelf           0.922          1.405          -1.616         0              270            0
  48  Shelf           -2.948         1.133          -2.735         0              90             0
  49  Shelf           0.922          1.405          -2.729         0              270            0
  50  Shelf           -2.948         1.133          -1.621         0              90             0
  51  LightSwitch     -0.142         1.328          0.600          0              180            0
  52  Poster          3.400          1.863          -1.976         90             90             0
  53  Poster          3.400          1.702          -0.792         90             90             0
  54  DeskLamp        3.126          0.789          -0.638         0              3.649          0
  55  Mirror          0.453          1.491          0.616          0              0              0
  56  Window          2.278          0.925          -3.184         90             0              0
  57  Window          -1.019         0.925          -3.184         90             0              0
  58  Blinds          -1.003         2.072          -3.177         0              0              0
  59  Blinds          2.292          2.072          -3.177         0              0              0
  60  Shelf           3.124          0.633          -0.564         0              270            0
  61  Shelf           3.124          0.633          -2.267         0              270            0
  62  Desk            3.141          -0.000         -1.414         0              270            0
  63  Desktop         3.101          0.792          -1.236         358.565        270            0
  64  Drawer          -1.523         0.408          0.346          0              180            0
  65  Drawer          -1.523         0.141          0.346          0              180            0
  66  SideTable       -1.522         -0.001         0.411          0              180            0
  67  NorthWall
  68  EastWall
  69  SouthWall
  70  WestWall

Plan:
STEP 1: Go forward a bit, turn left and go to the desk | STEP 2: Pick up the cd on the desk | STEP 3: Turn around, go forward a bit, turn left, go forward, turn right at the end of desk | STEP 4: Put the cd on the shelf under the table  | STEP 5: Turn up to the table | STEP 6: Pick up the cd on the desk | STEP 7: Turn around, go forward a bit, turn around | STEP 8: Put the cd on the shelf under the table  | END