Task: Put CDs in 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           -1.5           0.900          2.0            0              0              0
   1  Bowl            -1.744         0.882          0.749          0              0              0              46
   2  Mug             -0.399         0.855          -1.183         0              0              0              36
   3  Mug             -0.735         0.855          -0.663         0              0              0              36
   4  CD              -0.903         0.857          -0.836         0              0              0              36
   5  CD              -0.549         0.648          -0.852         0              0              0              34
   6  Pen             -1.994         0.392          0.721          0              0              0              48
   7  Pen             -1.939         1.729          0.407          0              90             0              41
   8  Pencil          -2.045         1.353          0.448          0              0              0              38
   9  KeyChain        -0.511         0.365          -0.852         0              0              0              37
  10  Pillow          1.612          0.918          2.234          0              0              0              27
  11  Laptop          1.612          0.781          1.366          0              0              0              27
  12  AlarmClock      -1.834         0.883          0.448          0              0              0              46
  13  Book            0.800          0.783          2.234          0              0              0              27
  14  AlarmClock      -1.834         1.724          0.366          0              0              0              40
  15  BasketBall      1.976          0.120          0.211          0              331.076        0
  16  Pen             -0.651         0.863          -1.010         0              0              0              36
  17  Laptop          1.206          0.781          0.787          0              0              0              27
  18  BaseballBat     1.953          0.659          -1.81          346.388        0              0
  19  Bowl            -0.483         0.861          -1.702         0              0              0              36
  20  Pillow          1.206          0.918          1.366          0              0              0              27
  21  KeyChain        -0.399         0.857          -0.836         0              0              0              36
  22  CreditCard      -0.511         0.649          -0.612         0              0              0              34
  23  CellPhone       -1.397         0.879          0.665          0              0              0              46
  24  CD              -1.918         0.878          0.581          0              0              0              46
  25  Pencil          -2.235         0.390          0.759          0              0              0              48
  26  Mug             -1.834         0.880          0.325          0              0              0              46
  27  Bed             1.227          -0.002         1.664          0              0              0
  28  LightSwitch     2.151          1.233          -0.518         0              270            0
  29  GarbageCan      -0.747         0.014          -0.327         0              0              0
  30  Mirror          -1.358         1.427          2.855          0              0              0
  31  DeskLamp        -2.296         0.858          0.750          0              0              0
  32  Window          -0.421         1.534          -1.947         90             0              0
  33  Window          0.579          1.534          -1.947         90             0              0
  34  Drawer          -0.491         0.739          -0.855         0              90             0
  35  Drawer          -0.491         0.204          -0.855         0              90             0
  36  Desk            -0.639         0.009          -1.187         0              90             0
  37  Drawer          -0.491         0.487          -0.855         0              90             0
  38  Shelf           -1.965         1.514          0.416          0              0              0
  39  Shelf           -1.965         1.092          0.416          0              0              0
  40  Shelf           -1.312         1.888          0.416          0              0              0
  41  Shelf           -1.965         1.888          0.416          0              0              0
  42  Shelf           -1.312         1.092          0.416          0              0              0
  43  Shelf           -1.312         1.514          0.416          0              0              0
  44  Blinds          0.601          2.161          -1.916         0              0              0
  45  Blinds          -0.402         2.161          -1.916         0              0              0
  46  Desk            -1.726         0.001          0.575          0              0              0
  47  Drawer          -2.058         0.733          0.734          0              0              0
  48  Drawer          -2.058         0.482          0.734          0              0              0
  49  Drawer          -2.058         0.198          0.735          0              0              0
  50  Chair           -0.137         0.000          -1.587         0              315            0
  51  Safe            -2.183         -7.748         2.576          0              180            0
  52  Chair           -1.433         0.009          0.780          357.672        206.726        0
  53  LaundryHamper   0.163          0.003          2.635          0              86.390         0
  54  NorthWall
  55  EastWall
  56  SouthWall
  57  WestWall

Plan:
STEP 1: Turn right, go straight to the bed, turn right, go to the desk chair, turn right to face the desk. | STEP 2: Take the CD from the desk. | STEP 3: Turn right, go straight to the basket next to the bed, turn left, go straight and stop near the safe. | STEP 4: Open the safe, put the CD in the safe, close the safe. | STEP 5: Turn left, go to the desk. | STEP 6: Take the CD from the desk. | STEP 7: Turn around, go back to the safe. | STEP 8: Open the safe, put the CD in the safe, close the safe. | END