Task: Moving two books into a drawer 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           -1.5           0.906          -0.5           0              180            0
   1  Mug             -1.603         0.979          -1.687         0              90             0              39
   2  CD              -1.500         0.738          -1.435         0              0              0              38
   3  CD              -1.198         0.981          -1.606         0              0              0              39
   4  CellPhone       -0.590         0.982          -1.443         0              0              0              39
   5  CellPhone       -0.621         1.537          -1.553         0              0              0              41
   6  Pen             -0.621         1.542          -1.475         0              0              0              41
   7  CreditCard      -1.238         0.098          -1.480         0              0              0              37
   8  Book            -0.387         0.982          -1.443         0              0              0              39
   9  Pillow          -1.026         0.952          2.332          0              0              0              33
  10  Laptop          -1.026         0.894          1.746          0              0              0              33
  11  AlarmClock      -1.400         0.982          -1.524         0              0              0              39
  12  Book            -0.995         0.982          -1.281         0              0              0              39
  13  Box             1.563          0.286          -1.069         0              347.500        0
  14  BasketBall      -1.657         0.126          -0.090         0              0              0
  15  Pen             -1.382         1.542          -1.514         0              0              0              41
  16  Pencil          -1.238         0.425          -1.390         0              0              0              40
  17  Laptop          -1.571         0.894          2.332          0              0              0              33
  18  Pillow          -1.280         0.917          0.478          0              0              0              33
  19  KeyChain        -0.792         0.981          -1.200         0              0              0              39
  20  Bowl            -1.603         0.982          -1.362         0              0              0              39
  21  CreditCard      -0.590         0.982          -1.606         0              0              0              39
  22  CellPhone       -1.326         0.740          -1.390         0              0              0              38
  23  CD              -1.001         1.536          -1.671         0              0              0              41
  24  AlarmClock      -1.001         1.537          -1.514         0              0              0              41
  25  Mug             -0.995         0.979          -1.443         0              270            0              39
  26  Statue          -1.400         0.988          -1.281         0              0              0              39
  27  Mirror          1.907          1.387          0.973          0              90             0
  28  LaundryHamper   -0.351         0.007          2.368          0              164.999        0
  29  DeskLamp        -0.343         1.545          -1.564         0              0              0
  30  GarbageCan      -0.035         0.007          -1.530         0              270            0
  31  Window          1.009          1.514          -2.089         90             0              0
  32  LightSwitch     0.397          1.197          2.729          0              180            0
  33  Bed             -1.299         1.937          1.441          0              0              0
  34  Blinds          1.064          2.382          -2.094         0              0              0
  35  Chair           0.884          0.012          -1.433         0              29.871         0
  36  Chair           -0.646         0.007          -1.206         0              195.000        0
  37  Drawer          -1.409         0.233          -1.303         0              0              0
  38  Drawer          -1.407         0.847          -1.302         0              0              0
  39  Desk            -0.993         0.006          -1.410         0              0              0
  40  Drawer          -1.408         0.558          -1.302         0              0              0
  41  Shelf           0.003          0.013          0.035          0              0              0
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: Move to the desk to the left. | STEP 2: Pick up the book to the right of the keys and in front of the mug on the desk | STEP 3: Move slightly to the right next to the wall | STEP 4: Open the drawer and place the book inside and then close the drawer | STEP 5: Move to the end of the table in front of the trash can | STEP 6: Pick up the book from the desk to the right | STEP 7: Move to the far side of the desk by the wall | STEP 8: Open the drawer and place the second book to the right of the first and then close the drawer | END