Task: Place a CD on a table.

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          -0.5           0              270            0
   1  Mug             0.033          0.618          0.832          0              180            0              38
   2  Mug             0.188          0.618          0.988          0              90             0              38
   3  CellPhone       0.995          0.375          -2.399         0              0              0              43
   4  Pen             -0.121         0.624          0.988          0              180            0              38
   5  Pencil          -1.085         0.681          -2.553         0              180            0              39
   6  Pencil          -0.121         0.625          0.599          0              180            0              38
   7  CreditCard      -0.586         0.618          0.833          0              180            0              38
   8  CreditCard      0.188          0.620          0.910          0              180            0              38
   9  KeyChain        -0.586         0.620          1.066          0              270            0              38
  10  KeyChain        -0.586         0.621          0.599          0              180            0              38
  11  Book            0.064          0.555          -1.657         0              0              0              26
  12  Laptop          -0.117         0.554          -0.988         0              0              0              26
  13  Box             2.453          0.222          -0.041         0              0              0
  14  Book            0.430          0.555          -1.434         0              0              0              26
  15  KeyChain        1.173          0.681          -2.508         0              0              0              40
  16  Pillow          0.192          0.607          -2.307         0              0              0              26
  17  BaseballBat     0.419          0.666          1.044          10.360         0              0
  18  Pencil          0.188          0.623          0.755          0              180            0              38
  19  CellPhone       -1.247         0.375          -2.399         0              0              0              44
  20  CreditCard      0.909          0.082          -2.375         0              0              0              43
  21  Pen             -0.431         0.625          0.910          0              180            0              38
  22  Laptop          -0.483         0.554          -1.657         0              0              0              26
  23  AlarmClock      -1.236         0.673          -2.425         0              29.999         0              40
  24  CD              -1.026         0.675          -2.374         0              0              0              39
  25  Mug             -0.121         0.616          1.066          0              180            0              38
  26  Bed             -0.118         -0.001         -1.699         0              180            0
  27  Mirror          2.644          1.347          0.384          0              90             0
  28  GarbageCan      2.467          -0.029         0.936          0              271.107        0
  29  LightSwitch     0.333          1.256          1.149          0              180            0
  30  DeskLamp        0.915          0.670          -2.435         0              0              0
  31  Painting        0.003          1.562          -2.687         90             180            0
  32  Window          -1.559         1.414          -1.356         90             270            0
  33  Window          -1.559         1.414          -0.057         90             270            0
  34  Shelf           -0.276         0.351          0.832          0              0              0
  35  Shelf           -0.276         0.099          0.832          0              0              0
  36  Blinds          -1.462         2.157          -1.343         0              90             0
  37  Blinds          -1.462         2.157          -0.046         0              90             0
  38  Desk            -0.276         -0.001         0.833          0              0              0
  39  SideTable       -1.204         0.002          -2.456         0              0              0
  40  SideTable       0.948          0.002          -2.456         0              0              0
  41  Drawer          0.948          0.166          -2.389         0              0              0
  42  Drawer          -1.204         0.166          -2.389         0              0              0
  43  Drawer          0.948          0.458          -2.389         0              0              0
  44  Drawer          -1.204         0.458          -2.389         0              0              0
  45
  46  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: Walk ahead and right to the gray table on the right. | STEP 2: Pick up the mug closest to the long side of the table, facing out. | STEP 3: Turn around and walk ahead and right to the side table on the right side of the bed. | STEP 4: Place the mug on the table on top of the CD. | END