Task: place two CD's inside of the pullout drawer on the right side of the desk

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.900          0.25           0              180            0
   1  TissueBox       1.317          0.519          -1.591         0              0              0              37
   2  CD              1.471          0.517          -1.631         0              0              0              37
   3  CD              3.136          0.077          -0.267         0              270            0              24
   4  CellPhone       0.552          0.570          -0.905         0              0              0              22
   5  Pencil          2.108          0.803          -1.420         0              0              0              35
   6  Pencil          2.931          0.551          -1.397         0              0              0              34
   7  CreditCard      1.296          0.059          -1.593         0              180            0              38
   8  Book            -0.097         0.569          -1.129         0              0              0              22
   9  KeyChain        2.108          0.799          -1.543         0              90             0              35
  10  TissueBox       3.067          0.536          -1.421         0              0              0              34
  11  TeddyBear       -0.075         0.562          -0.274         353.177        297.143        5.348          22
  12  Pencil          1.317          0.522          -1.712         0              180            0              37
  13  CreditCard      1.070          0.283          -1.614         0              180            0              36
  14  TennisRacket    -0.921         0.344          0.390          13.911         273.938        195.992        Floor|+00.39|
  15  Laptop          2.362          0.791          -1.54          0              0              0              35
  16  AlarmClock      1.108          0.510          -1.673         0              345.196        0              37
  17  Pen             2.931          0.551          -1.508         0              0              0              34
  18  Pillow          0.299          0.643          -1.557         0              0              0              22
  19  CellPhone       -0.260         0.570          -1.575         0              0              0              22
  20  CD              2.705          0.797          -1.420         0              0              0              35
  21  Mug             2.059          0.791          -1.681         0              18.478         0              35
  22  Bed             0.227          -0.003         -0.947         0              180            0
  23  Mirror          0.615          1.264          1.029          0              0              0
  24  GarbageCan      3.166          -0.011         -0.264         4.636          271.335        0
  25  DeskLamp        3.164          0.794          -1.664         0              315            0
  26  HousePlant      -0.833         0.000          0.843          0              0              0
  27  LightSwitch     2.010          1.126          1.029          0              180            0
  28  Window          1.794          1.677          -1.939         90             180            0
  29  Window          0.691          1.361          -1.938         90             180            0
  30  Dumbbell        2.628          0.001          -1.613         0              346.954        0
  31  Blinds          1.776          1.993          -1.858         0              0              0
  32  Blinds          0.670          1.993          -1.858         0              0              0
  33  Chair           2.255          0.004          -1.501         0              167.716        0
  34  Shelf           3.034          0.637          -1.580         0              0              0
  35  Desk            2.500          0.002          -1.596         0              0              0
  36  Drawer          1.240          0.354          -1.553         0              0              0
  37  SideTable       1.239          0.003          -1.551         0              0              0
  38  Drawer          1.240          0.126          -1.553         0              0              0
  39  NorthWall
  40  EastWall
  41  SouthWall
  42  WestWall

Plan:
STEP 1: turn left and walk over to the garbage bin at the end of the room up ahead on the right | STEP 2: grab the CD out of the garbage bin | STEP 3: turn right and walk over to the desk there, but then turn right again and walk forwards just a few steps | STEP 4: place the CD inside of the pullout drawer which is on the right side of the desk | STEP 5: turn around and walk to the wall up ahead, then turn right to face the desk again | STEP 6: grab the CD off of the desk there | STEP 7: turn right to walk forwards a few steps again | STEP 8: place the CD inside of the same drawer on the right side of the desk that you put the other CD in | END