Task: Move two discs into a drawer.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.0            0.902          -0.25          0              180            0
   1  Statue          0.147          0.838          -2.414         0              0              0              39
   2  Statue          2.703          0.825          0.244          0              270            0              55
   3  CD              2.641          0.821          -0.134         0              270            0              55
   4  CD              -1.318         0.051          -0.967         0              0              0              27
   5  CD              2.579          0.819          0.433          0              270            0              55
   6  CellPhone       2.456          0.821          0.623          0              270            0              55
   7  Pencil          2.601          0.679          -0.215         0              0              0              56
   8  KeyChain        -0.627         0.709          -1.752         0              90             0              39
   9  KeyChain        -0.950         0.709          -1.696         0              0              0              37
  10  Book            2.554          0.033          -0.303         0              0              0              57
  11  Box             0.252          0.227          -2.042         0              29.078         0
  12  Book            -0.016         0.730          0.967          0              0              0              25
  13  Statue          1.377          1.454          -1.758         0              0              0              39
  14  CellPhone       2.647          0.033          -0.041         0              0              0              57
  15  Pillow          0.148          0.744          1.738          0              195.270        0              25
  16  Pillow          -0.402         0.809          0.437          0              0              0              25
  17  BasketBall      -1.231         0.121          -0.18          0              0              0
  18  CreditCard      2.601          0.192          0.046          0              0              0              52
  19  KeyChain        2.394          0.822          0.812          0              270            0              55
  20  Pencil          2.517          0.823          0.054          0              270            0              55
  21  AlarmClock      2.703          0.819          0.623          0              270            0              55
  22  Laptop          -0.595         0.729          0.967          0              0              0              25
  23  CD              2.703          0.821          -0.324         0              270            0              55
  24  Pen             -0.503         0.714          -1.724         0              0              0              39
  25  Bed             -0.209         -0.001         0.983          0              0              0
  26  LightSwitch     0.778          1.266          2.128          0              180            0
  27  GarbageCan      -1.357         -0.020         -0.928         0              0              0
  28  Painting        2.063          1.674          -1.865         83.723         0              0
  29  HousePlant      -0.808         0.953          -1.730         0              0              0
  30  Painting        1.871          0.393          -1.792         79.235         0              0
  31  Mirror          2.842          1.404          1.375          0              90             0
  32  DeskLamp        2.676          0.819          0.878          0              0              0
  33  Window          -1.700         1.444          -0.542         90             90             0
  34  Window          0.535          1.412          -2.618         90             0              0
  35  Shelf           -0.904         0.824          -1.754         0              0              0
  36  Shelf           -0.802         0.981          -1.756         0              0              0
  37  Shelf           -0.904         0.555          -1.754         0              0              0
  38  Shelf           -0.327         0.225          -1.754         0              0              0
  39  Shelf           -0.439         0.822          -1.754         0              0              0
  40  Shelf           -0.619         0.981          -1.754         0              0              0
  41  Shelf           -0.439         0.556          -1.754         0              0              0
  42  Shelf           -0.709         0.225          -1.754         0              0              0
  43  ShelvingUnit    -0.641         0.006          -1.745         0              0              0
  44  Stool           0.799          0.004          -2.105         0              0              0
  45  Blinds          0.542          2.135          -2.553         0              0              0
  46  Blinds          -1.645         2.145          -0.546         0              90             0
  47  Drawer          2.518          0.574          0.623          0              270            0
  48  Drawer          2.517          0.411          0.623          0              270            0
  49  Drawer          2.518          0.732          0.623          0              270            0
  50  Drawer          2.518          0.732          -0.119         0              270            0
  51  Drawer          2.517          0.411          -0.119         0              270            0
  52  Drawer          2.517          0.247          -0.119         0              270            0
  53  Drawer          2.517          0.090          0.623          0              270            0
  54  Drawer          2.517          0.247          0.623          0              270            0
  55  Dresser         2.555          0.003          0.252          0              270            0
  56  Drawer          2.518          0.574          -0.119         0              270            0
  57  Drawer          2.517          0.090          -0.119         0              270            0
  58  NorthWall
  59  EastWall
  60  SouthWall
  61  WestWall

Plan:
STEP 1: Take a step forward, then turn left and walk over to the end of the white dresser. | STEP 2: Pick up the closest disc off of the white dresser. | STEP 3: Turn left and begin walking across the room, then hang a right and walk over to the front of the dresser. | STEP 4: Open the drawer that is second from the bottom on the right side of the dresser and place the disc inside in the back left corner. | STEP 5: Turn left and take a step forward, then turn right and walk up to the dresser. | STEP 6: Pick up the disc that is closest to the digital alarm clock on the dresser. | STEP 7: Turn around and walk towards the bed, then turn around again to and walk back up to the dresser. | STEP 8: Open the second drawer from the bottom on the right side of the dresser and place the disc inside to the right of the disc that is already in there, then close the drawer. | END