Task: Put two CD's 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          -0.5           0              90             0
   1  Bowl            -0.483         0.861          -1.183         0              0              0              38
   2  Mug             -1.571         0.876          0.832          0              0              0              48
   3  CD              -0.473         0.364          -0.772         0              0              0              37
   4  CD              -0.735         0.857          -0.663         0              0              0              38
   5  CellPhone       -1.914         0.105          0.721          0              0              0              51
   6  CellPhone       0.598          0.784          1.655          0              0              0              29
   7  Pen             -0.549         0.370          -0.852         0              0              0              39
   8  Pencil          -2.235         0.108          0.683          0              0              0              51
   9  Pencil          -0.819         0.861          -0.836         0              0              0              38
  10  CreditCard      -1.833         0.386          0.683          0              0              0              50
  11  CreditCard      -0.903         0.857          -0.836         0              0              0              38
  12  Book            -0.511         0.083          -0.852         0              0              0              37
  13  Book            1.206          0.783          2.234          0              0              0              29
  14  Laptop          1.612          0.781          1.076          0              0              0              29
  15  Book            1.409          0.783          0.787          0              0              0              29
  16  AlarmClock      -1.834         1.724          0.407          0              0              0              42
  17  BasketBall      1.976          0.120          0.211          0              331.076        0
  18  Pen             -1.744         0.884          0.581          0              0              0              48
  19  Laptop          1.206          0.781          1.076          0              0              0              29
  20  BaseballBat     1.953          0.659          -1.81          346.388        0              0
  21  Bowl            -2.091         0.882          0.581          0              0              0              48
  22  Pillow          1.118          0.867          2.464          0              0              0              29
  23  KeyChain        -1.445         1.350          0.325          0              90             0              45
  24  CreditCard      -2.075         0.668          0.758          0              0              0              49
  25  CellPhone       -2.187         0.040          2.629          0              180            0              53
  26  CD              -0.483         0.857          -1.702         0              0              0              38
  27  Pencil          -0.651         0.861          -1.356         0              0              0              38
  28  Mug             -0.399         0.855          -0.836         0              0              0              38
  29  Bed             1.227          -0.002         1.664          0              0              0
  30  LightSwitch     2.151          1.233          -0.518         0              270            0
  31  GarbageCan      -0.747         0.014          -0.327         0              0              0
  32  Mirror          -1.358         1.427          2.855          0              0              0
  33  DeskLamp        -2.296         0.858          0.750          0              0              0
  34  Window          -0.421         1.534          -1.947         90             0              0
  35  Window          0.579          1.534          -1.947         90             0              0
  36  Drawer          -0.491         0.739          -0.855         0              90             0
  37  Drawer          -0.491         0.204          -0.855         0              90             0
  38  Desk            -0.639         0.009          -1.187         0              90             0
  39  Drawer          -0.491         0.487          -0.855         0              90             0
  40  Shelf           -1.965         1.514          0.416          0              0              0
  41  Shelf           -1.965         1.092          0.416          0              0              0
  42  Shelf           -1.312         1.888          0.416          0              0              0
  43  Shelf           -1.965         1.888          0.416          0              0              0
  44  Shelf           -1.312         1.092          0.416          0              0              0
  45  Shelf           -1.312         1.514          0.416          0              0              0
  46  Blinds          0.601          2.161          -1.916         0              0              0
  47  Blinds          -0.402         2.161          -1.916         0              0              0
  48  Desk            -1.726         0.001          0.575          0              0              0
  49  Drawer          -2.058         0.733          0.734          0              0              0
  50  Drawer          -2.058         0.482          0.734          0              0              0
  51  Drawer          -2.058         0.198          0.735          0              0              0
  52  Chair           -0.137         0.000          -1.587         0              315            0
  53  Safe            -2.183         -7.748         2.576          0              180            0
  54  Chair           -1.433         0.009          0.780          357.672        206.726        0
  55  LaundryHamper   0.163          0.003          2.635          0              86.390         0
  56  NorthWall
  57  EastWall
  58  SouthWall
  59  WestWall

Plan:
STEP 1: Turn around so you are next to the wall and facing the blue chair | STEP 2: Pick up the CD off of the desk | STEP 3: Maneuver your way to the left of the bed so you are facing the wall to the left of the floor safe | STEP 4: Open the safe and put the CD inside it, before closing it again | STEP 5: Turn back towards the desk, but this time stand to the right of where you stood last time | STEP 6: Pick up another CD off of the desk | STEP 7: Head back to the safe | STEP 8: Open the safe and put the other CD inside it, before closing it again | END