Task: Place two book inside the desk drawer

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            0.906          -0.25          0              180            0
   1  Bowl            -1.198         0.982          -1.606         0              0              0              38
   2  Pen             -0.387         0.988          -1.524         0              0              0              38
   3  Pen             -0.792         0.987          -1.443         0              0              0              38
   4  Pencil          -1.674         0.101          -1.390         0              0              0              36
   5  CreditCard      -1.238         0.739          -1.345         0              0              0              37
   6  Book            -1.435         0.897          1.160          0              0              0              32
   7  Book            -1.163         0.897          1.453          0              0              0              32
   8  Pillow          -1.163         0.952          1.746          0              0              0              32
   9  Laptop          -1.571         0.894          1.453          0              0              0              32
  10  AlarmClock      -1.400         0.982          -1.443         0              0              0              38
  11  Book            -0.875         2.053          1.746          0              0              0              32
  12  Box             1.563          0.286          -1.069         0              347.500        0
  13  BasketBall      -1.657         0.126          -0.090         0              0              0
  14  Pen             -1.198         0.988          -1.362         0              0              0              38
  15  Pencil          -0.387         0.984          -1.687         0              0              0              38
  16  Laptop          -1.163         0.894          1.160          0              0              0              32
  17  Pillow          -1.280         0.917          0.478          0              0              0              32
  18  KeyChain        -1.572         1.536          -1.475         0              0              0              40
  19  Bowl            -1.183         1.528          -1.590         0              0              0              40
  20  CreditCard      -0.621         1.536          -1.593         0              0              0              40
  21  CellPhone       -1.603         0.983          -1.606         0              0              0              38
  22  CD              -1.413         0.097          -1.345         0              0              0              36
  23  AlarmClock      -1.198         0.982          -1.200         0              0              0              38
  24  Mug             -0.811         1.534          -1.632         0              0              0              40
  25  Statue          -0.387         0.988          -1.362         0              0              0              38
  26  Mirror          1.907          1.387          0.973          0              90             0
  27  LaundryHamper   -0.351         0.007          2.368          0              164.999        0
  28  DeskLamp        -0.343         1.545          -1.564         0              0              0
  29  GarbageCan      -0.035         0.007          -1.530         0              270            0
  30  Window          1.009          1.514          -2.089         90             0              0
  31  LightSwitch     0.397          1.197          2.729          0              180            0
  32  Bed             -1.299         1.937          1.441          0              0              0
  33  Blinds          1.064          2.382          -2.094         0              0              0
  34  Chair           0.884          0.012          -1.433         0              29.871         0
  35  Chair           -0.646         0.007          -1.206         0              195.000        0
  36  Drawer          -1.409         0.233          -1.303         0              0              0
  37  Drawer          -1.407         0.847          -1.302         0              0              0
  38  Desk            -0.993         0.006          -1.410         0              0              0
  39  Drawer          -1.408         0.558          -1.302         0              0              0
  40  Shelf           0.003          0.013          0.035          0              0              0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: turn around and walk towards the wall. turn left towards the bed | STEP 2: pick up a book from the bed | STEP 3: turn around and walk back towards the desk | STEP 4: open the drawer and place the book in the desk | STEP 5: turn around and walk back towards the wall | STEP 6: turn left and pick up another book from the bed | STEP 7: turn back around and walk towards the desk | STEP 8: place the book in the drawer and close the drawer | END