Task: put a box on a 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          -1.5           0              90             0
   1  CD              -0.349         0.375          -0.285         0              0              0              30
   2  AlarmClock      2.285          0.843          -0.090         0              0              0              26
   3  Pillow          0.012          0.617          1.848          0              0              0              16
   4  Box             2.15           0.14           0.494          0              12.243         0
   5  Book            -0.131         0.926          -0.604         0              0              0              31
   6  BasketBall      -0.235         0.120          0.166          0              0              0
   7  Pen             2.190          0.848          -0.221         0              180            0              26
   8  Pillow          -0.025         0.561          2.458          0              0              0              16
   9  Pencil          2.310          0.053          2.579          0              0              0              22
  10  CellPhone       2.170          0.099          -0.581         0              0              0              25
  11  KeyChain        2.380          0.843          -0.877         0              0              0              26
  12  CreditCard      2.120          0.097          -0.288         0              0              0              25
  13  AlarmClock      -0.225         0.925          -1.032         0              0              0              31
  14  CD              2.253          0.049          2.606          0              0              0              22
  15  Laptop          0.012          0.548          1.263          0              0              0              16
  16  Bed             0.009          -0.004         1.577          0              0              0
  17  DeskLamp        -0.669         0.923          -0.062         0              90             0
  18  Painting        -0.787         1.809          -0.215         90             270            0
  19  Painting        -0.787         1.809          1.023          90             270            0
  20  Mirror          2.118          1.277          2.749          0              0              0
  21  LightSwitch     0.726          1.200          2.75           0              180            0
  22  GarbageCan      2.257          -0.008         2.603          353.970        0              0
  23  Window          0.665          1.356          -1.911         90             0              0
  24  Drawer          2.119          0.576          -0.491         4.458          270            0
  25  Drawer          2.147          0.213          -0.491         4.458          270            0
  26  SideTable       2.226          0.013          -0.492         4.458          270            0
  27  Chair           0.170          0.011          -1.214         0              261.719        0
  28  Blinds          0.695          1.983          -1.867         0              0              0
  29  Drawer          -0.079         0.513          -0.394         0              90             0
  30  Drawer          -0.079         0.226          -0.394         0              90             0
  31  Desk            -0.391         0.001          -0.811         0              90             0
  32  Drawer          -0.079         0.762          -0.394         0              90             0
  33  NorthWall
  34  EastWall
  35  SouthWall
  36  WestWall

Plan:
STEP 1: turn left, walk through room, turn right to face box on floor to the left of the dresser drawers | STEP 2: pick up the box from the floor | STEP 3: turn around, walk to face the desk | STEP 4: put the box on the desk on the left side | END