Task: Put two CDs in the safe.

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          0.900          1.25           0              0              0
   1  CD              -0.903         0.857          -0.836         0              0              0              34
   2  CellPhone       -0.735         0.858          -1.183         0              0              0              34
   3  CellPhone       -0.483         0.858          -1.356         0              0              0              34
   4  Pen             -1.286         1.729          0.489          0              0              0              38
   5  KeyChain        -2.151         1.723          0.530          0              0              0              39
   6  KeyChain        -2.315         0.386          0.608          0              90             0              46
   7  Book            -2.155         0.386          0.721          0              0              0              46
   8  Book            1.206          0.783          1.366          0              0              0              25
   9  AlarmClock      -1.834         0.883          0.448          0              0              0              44
  10  AlarmClock      -1.834         1.724          0.407          0              0              0              38
  11  Book            -2.075         0.667          0.721          0              0              0              45
  12  AlarmClock      -0.735         0.858          -0.836         0              0              0              34
  13  BasketBall      1.976          0.120          0.211          0              331.076        0
  14  Pen             -2.074         0.110          0.759          0              0              0              47
  15  Laptop          -1.783         0.871          0.732          0              0              0              44
  16  BaseballBat     1.953          0.659          -1.81          346.388        0              0
  17  Bowl            -2.091         0.882          0.665          0              0              0              44
  18  Pillow          0.800          0.918          0.787          0              0              0              25
  19  KeyChain        -0.511         0.083          -1.093         0              0              0              33
  20  CreditCard      -0.567         0.857          -1.010         0              0              0              34
  21  CellPhone       -2.083         0.040          2.682          0              180            0              49
  22  CD              -0.399         0.857          -1.010         0              0              0              34
  23  Pencil          -1.728         1.727          0.366          0              0              0              39
  24  Mug             -0.819         0.855          -1.529         0              0              0              34
  25  Bed             1.227          -0.002         1.664          0              0              0
  26  LightSwitch     2.151          1.233          -0.518         0              270            0
  27  GarbageCan      -0.747         0.014          -0.327         0              0              0
  28  Mirror          -1.358         1.427          2.855          0              0              0
  29  DeskLamp        -2.296         0.858          0.750          0              0              0
  30  Window          -0.421         1.534          -1.947         90             0              0
  31  Window          0.579          1.534          -1.947         90             0              0
  32  Drawer          -0.491         0.739          -0.855         0              90             0
  33  Drawer          -0.491         0.204          -0.855         0              90             0
  34  Desk            -0.639         0.009          -1.187         0              90             0
  35  Drawer          -0.491         0.487          -0.855         0              90             0
  36  Shelf           -1.965         1.514          0.416          0              0              0
  37  Shelf           -1.965         1.092          0.416          0              0              0
  38  Shelf           -1.312         1.888          0.416          0              0              0
  39  Shelf           -1.965         1.888          0.416          0              0              0
  40  Shelf           -1.312         1.092          0.416          0              0              0
  41  Shelf           -1.312         1.514          0.416          0              0              0
  42  Blinds          0.601          2.161          -1.916         0              0              0
  43  Blinds          -0.402         2.161          -1.916         0              0              0
  44  Desk            -1.726         0.001          0.575          0              0              0
  45  Drawer          -2.058         0.733          0.734          0              0              0
  46  Drawer          -2.058         0.482          0.734          0              0              0
  47  Drawer          -2.058         0.198          0.735          0              0              0
  48  Chair           -0.137         0.000          -1.587         0              315            0
  49  Safe            -2.183         -7.748         2.576          0              180            0
  50  Chair           -1.433         0.009          0.780          357.672        206.726        0
  51  LaundryHamper   0.163          0.003          2.635          0              86.390         0
  52  NorthWall
  53  EastWall
  54  SouthWall
  55  WestWall

Plan:
STEP 1: Turn around and move to the front side of the desk across the room. | STEP 2: Remove the CD from the red CD player on the desk. | STEP 3: Turn right and move across the room. Turn left towards the safe in the corner. | STEP 4: Put the CD in the safe. | STEP 5: Turn left and move back to the front of the desk. | STEP 6: Pick up the CD that's laying on top of the desk. | STEP 7: Head back to the safe. | STEP 8: Put the CD in the safe. | END