Task: To move two CD's to the dresser.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.901          -1.75          0              0              0
   1  Mug             -1.515         0.597          -0.392         0              0              0              54
   2  Vase            1.981          1.578          -2.298         0              0              0              38
   3  CD              -1.912         0.598          0.031          0              0              0              54
   4  CellPhone       -1.582         0.599          -0.109         0              0              0              54
   5  CellPhone       -1.714         0.599          -0.392         0              0              0              54
   6  Pen             -1.648         0.604          -0.250         0              0              0              54
   7  Pen             -1.714         0.604          0.031          0              0              0              54
   8  Pencil          -1.846         0.602          -0.109         0              0              0              54
   9  Pencil          -1.582         0.602          0.031          0              0              0              54
  10  KeyChain        0.076          0.731          -2.705         0              180            0              47
  11  KeyChain        -1.819         0.217          -1.040         0              270            0              55
  12  Pillow          -1.024         0.491          -1.610         0              0              0              53
  13  Laptop          -1.024         0.415          -2.100         0              0              0              53
  14  AlarmClock      -1.714         0.599          -0.533         0              0              0              54
  15  AlarmClock      0.076          0.729          -2.588         0              180            0              47
  16  Box             1.996          0.316          -1.042         0              254.839        0
  17  Book            0.339          0.723          -2.65          0              165.000        0              47
  18  Pillow          -1.548         0.457          -1.831         0              90             0              53
  19  CellPhone       0.359          0.415          -2.550         0              0              0              49
  20  Vase            0.766          0.731          -2.764         0              180            0              47
  21  BaseballBat     -1.629         0.649          0.416          14.491         0              0
  22  CreditCard      -1.755         0.501          -1.190         0              0              0              56
  23  TennisRacket    2.244          0.279          -1.901         335.402        251.974        201.714
  24  KeyChain        0.076          0.731          -2.822         0              180            0              47
  25  AlarmClock      -1.853         0.501          -1.174         0              285.157        0              54
  26  Cloth           2.176          0.0            -0.571         0              335.474        0
  27  Laptop          -0.333         0.415          -2.100         0              0              0              53
  28  CD              -1.912         0.598          -0.533         0              0              0              54
  29  CD              -1.794         0.069          -1.186         0              0              0              58
  30  Pen             1.320          1.184          -2.277         0              0              0              35
  31  Pencil          -1.780         0.602          -0.250         0              0              0              54
  32  Mug             1.981          0.975          -2.277         0              0              0              34
  33  Shelf           1.311          0.969          -2.298         0              0              0
  34  Shelf           1.843          0.969          -2.298         0              0              0
  35  Shelf           1.311          1.171          -2.298         0              0              0
  36  Shelf           1.843          1.171          -2.298         0              0              0
  37  Shelf           1.311          1.368          -2.298         0              0              0
  38  Shelf           1.843          1.570          -2.298         0              0              0
  39  Shelf           1.843          1.368          -2.298         0              0              0
  40  Shelf           1.311          1.570          -2.298         0              0              0
  41  DeskLamp        -1.848         0.592          -0.786         0              90             0
  42  GarbageCan      2.197          -0.007         0.298          0              232.025        0
  43  LightSwitch     -0.638         1.149          0.499          0              180            0
  44  Poster          0.001          1.495          -2.642         90             90             0
  45  Mirror          -1.072         1.469          0.497          0              0              0
  46  Window          0.435          1.398          -2.855         90             0              0
  47  SideTable       0.435          0.036          -2.647         0              0              0
  48  Drawer          0.433          0.203          -2.445         0              0              0
  49  Drawer          0.433          0.505          -2.445         0              0              0
  50  Dumbbell        -1.656         0.602          -0.534         0              90             0
  51  Blinds          0.449          2.164          -2.845         0              0              0
  52  GarbageBag      1.730          0.318          0.222          270            90             83.412
  53  Bed             -1.047         -0.000         -1.851         0              270            0
  54  Desk            -1.710         0.000          -0.374         0              90             0
  55  Drawer          -1.790         0.245          -1.144         0              90             0
  56  SideTable       -1.824         0.000          -1.144         0              90             0
  57  Drawer          -1.790         0.392          -1.144         0              90             0
  58  Drawer          -1.790         0.097          -1.144         0              90             0
  59  Chair           -1.453         0.005          -0.311         0              286.095        0
  60  Shelf           1.591          0.606          -2.305         0              0              0
  61  ShelvingUnit    1.588          0.004          -2.326         0              0              0
  62  Shelf           1.854          0.453          -2.298         0              0              0
  63  Shelf           1.321          0.155          -2.296         0              0              0
  64  Shelf           1.323          0.456          -2.300         0              0              0
  65  Shelf           1.852          0.152          -2.294         0              0              0
  66  NorthWall
  67  EastWall
  68  SouthWall
  69  WestWall

Plan:
STEP 1: Turn left and walk to the night stand to the right of the bed.  | STEP 2: Open the bottom drawer of the night stand, take the CD out, close the drawer.  | STEP 3: Turn around and walk to the dresser to the left of the bed.  | STEP 4: Put the CD down on the front edge of the dresser.  | STEP 5: Turn around and walk to the dresser to the right of the night stand.  | STEP 6: Pick up the CD from the back right corner of the desk.  | STEP 7: Turn and walk back over to the dresser to the left of the bed.  | STEP 8: Put the CD down on the dresser to the left of the first CD.  | END