Task: Putting two books in a drawer on 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           1.0            0.900          -0.25          0              90             0
   1  CellPhone       1.494          0.823          -1.467         0              270            0              50
   2  CellPhone       0.528          0.774          0.850          0              0              0              30
   3  Pen             -0.990         0.867          -2.498         0              0              0              59
   4  Pen             -0.061         0.818          -2.169         0              0              0              52
   5  Pencil          0.251          0.815          -2.372         0              0              0              52
   6  CreditCard      -0.996         1.362          -2.435         0              0              0              55
   7  CreditCard      -1.393         0.861          -2.248         0              0              0              59
   8  Book            -1.192         0.861          -2.498         0              0              0              59
   9  Book            0.816          0.774          0.850          0              0              0              30
  10  Book            0.241          0.774          0.850          0              0              0              30
  11  Laptop          -0.046         0.772          1.335          0              0              0              30
  12  AlarmClock      -1.594         0.862          -2.498         0              0              0              59
  13  Book            0.816          0.774          1.335          0              0              0              30
  14  Cloth           1.303          0.0            -0.696         0              303.212        0
  15  Cloth           1.273          0.0            -0.969         0              0              0
  16  CellPhone       -1.580         0.652          -2.287         0              0              0              58
  17  Pencil          -0.990         0.865          -2.311         0              0              0              59
  18  Laptop          -0.046         0.772          1.819          0              0              0              30
  19  AlarmClock      -1.393         0.862          -2.311         0              0              0              59
  20  CreditCard      0.146          0.805          -2.507         0              0              0              52
  21  KeyChain        -1.319         0.088          -2.439         0              90             0              56
  22  TennisRacket    -1.704         0.345          1.743          345.000        90             180
  23  RemoteControl   0.042          0.813          -2.304         0              0              0              52
  24  Pillow          -0.333         0.902          0.850          0              0              0              30
  25  CD              -1.187         1.361          -2.468         0              0              0              59
  26  CD              -1.319         0.652          -2.287         0              0              0              58
  27  CD              -1.406         0.087          -2.363         0              0              0              56
  28  Pen             1.411          0.829          -1.467         0              270            0              50
  29  Bowl            -0.674         0.855          -2.499         0              323.153        0              59
  30  Bed             0.270          0.001          1.331          0              90             0
  31  LaundryHamper   -1.329         0.001          1.829          0              180            0
  32  Television      -1.664         1.479          -0.912         0              90             0
  33  DeskLamp        0.049          0.815          -2.481         0              0              0
  34  LightSwitch     -1.799         1.213          0.680          0              90             0
  35  Painting        0.492          1.684          -2.629         90             0              0
  36  Poster          -1.799         1.690          -1.491         90             270            0
  37  GarbageCan      1.306          -0.001         -2.451         0              317.376        0
  38  Mirror          1.5            1.361          -0.542         0              90             0
  39  Window          1.721          1.365          -1.597         90             270            0
  40  Shelf           -1.605         0.435          -0.686         0              90             0
  41  Shelf           -1.613         1.154          -0.904         0              90             0
  42  ShelvingUnit    -1.611         0.005          -0.904         0              90             0
  43  Shelf           -1.605         0.719          -1.122         0              90             0
  44  Shelf           -1.605         0.435          -1.122         0              90             0
  45  Shelf           -1.605         1.006          -1.122         0              90             0
  46  Shelf           -1.605         0.148          -0.686         0              90             0
  47  Shelf           -1.605         0.149          -1.122         0              90             0
  48  Shelf           -1.605         1.006          -0.686         0              90             0
  49  Shelf           -1.605         0.719          -0.686         0              90             0
  50  SideTable       1.484          0.001          -1.481         0              270            0
  51  Blinds          1.699          2.096          -1.575         0              270            0
  52  Desk            0.244          0.004          -2.356         0              0              0
  53  Chair           -0.626         1.439          -2.199         0              171.006        0
  54  Chair           0.220          1.466          -2.214         0              188.269        0
  55  Shelf           -0.978         1.387          -2.479         0              0              0
  56  Drawer          -1.389         0.197          -2.261         0              0              0
  57  Drawer          -1.389         0.480          -2.261         0              0              0
  58  Drawer          -1.389         0.731          -2.261         0              0              0
  59  Desk            -0.973         1.162          -2.351         0              0              0
  60  NorthWall
  61  EastWall
  62  SouthWall
  63  WestWall

Plan:
STEP 1: Turn left and go to the bed | STEP 2: Grab a book off of the bed | STEP 3: Turn around and go to the right of the desk | STEP 4: Put the book in the top right drawer on the desk | STEP 5: Go to the desk | STEP 6: Grab the book off of the desk | STEP 7: Back up and look at the drawers on the desk | STEP 8: Put the book in the top right drawer | END