Task: place two books in bottom 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           -1.0           0.900          0.0            0              270            0
   1  CellPhone       -0.990         0.861          -2.436         0              0              0              58
   2  CellPhone       1.103          0.774          1.496          0              0              0              29
   3  Pen             -0.061         0.817          -2.169         0              0              0              51
   4  Pen             -0.789         0.867          -2.311         0              0              0              58
   5  Pencil          -0.061         0.815          -2.372         0              0              0              51
   6  Pencil          -1.319         0.656          -2.325         0              0              0              57
   7  KeyChain        1.467          0.824          -1.776         0              270            0              49
   8  Book            -0.621         0.774          0.850          0              0              0              29
   9  RemoteControl   -1.393         0.863          -2.561         0              0              0              58
  10  Laptop          -0.046         0.772          1.173          0              0              0              29
  11  Laptop          0.528          0.772          1.496          0              0              0              29
  12  Book            0.189          0.805          -2.27          0              195.000        0              51
  13  Cloth           1.303          0.0            -0.696         0              303.212        0
  14  Cloth           1.273          0.0            -0.969         0              0              0
  15  CellPhone       -1.594         0.861          -2.311         0              0              0              58
  16  Pencil          -1.594         0.865          -2.248         0              0              0              58
  17  Laptop          -0.621         0.772          1.335          0              0              0              29
  18  AlarmClock      -1.192         0.862          -2.498         0              0              0              58
  19  CreditCard      -0.806         1.362          -2.468         0              0              0              54
  20  KeyChain        -1.393         0.862          -2.373         0              0              0              58
  21  TennisRacket    -1.704         0.345          1.743          345.000        90             180
  22  RemoteControl   -1.493         0.653          -2.287         0              0              0              57
  23  Pillow          0.816          0.902          0.850          0              0              0              29
  24  CD              -1.667         0.652          -2.249         0              0              0              57
  25  CD              -1.594         0.861          -2.498         0              0              0              58
  26  CD              0.355          0.811          -2.575         0              0              0              51
  27  Pen             -0.990         0.867          -2.373         0              0              0              58
  28  Bowl            -0.674         0.855          -2.499         0              323.153        0              58
  29  Bed             0.270          0.001          1.331          0              90             0
  30  LaundryHamper   -1.329         0.001          1.829          0              180            0
  31  Television      -1.664         1.479          -0.912         0              90             0
  32  DeskLamp        0.049          0.815          -2.481         0              0              0
  33  LightSwitch     -1.799         1.213          0.680          0              90             0
  34  Painting        0.492          1.684          -2.629         90             0              0
  35  Poster          -1.799         1.690          -1.491         90             270            0
  36  GarbageCan      1.306          -0.001         -2.451         0              317.376        0
  37  Mirror          1.5            1.361          -0.542         0              90             0
  38  Window          1.721          1.365          -1.597         90             270            0
  39  Shelf           -1.605         0.435          -0.686         0              90             0
  40  Shelf           -1.613         1.154          -0.904         0              90             0
  41  ShelvingUnit    -1.611         0.005          -0.904         0              90             0
  42  Shelf           -1.605         0.719          -1.122         0              90             0
  43  Shelf           -1.605         0.435          -1.122         0              90             0
  44  Shelf           -1.605         1.006          -1.122         0              90             0
  45  Shelf           -1.605         0.148          -0.686         0              90             0
  46  Shelf           -1.605         0.149          -1.122         0              90             0
  47  Shelf           -1.605         1.006          -0.686         0              90             0
  48  Shelf           -1.605         0.719          -0.686         0              90             0
  49  SideTable       1.484          0.001          -1.481         0              270            0
  50  Blinds          1.699          2.096          -1.575         0              270            0
  51  Desk            0.244          0.004          -2.356         0              0              0
  52  Chair           -0.626         1.439          -2.199         0              171.006        0
  53  Chair           0.220          1.466          -2.214         0              188.269        0
  54  Shelf           -0.978         1.387          -2.479         0              0              0
  55  Drawer          -1.389         0.197          -2.261         0              0              0
  56  Drawer          -1.389         0.480          -2.261         0              0              0
  57  Drawer          -1.389         0.731          -2.261         0              0              0
  58  Desk            -0.973         1.162          -2.351         0              0              0
  59  NorthWall
  60  EastWall
  61  SouthWall
  62  WestWall

Plan:
STEP 1: turn around, go to corner of bed with book | STEP 2: pick up book from bed | STEP 3: turn around, go to desk to the right | STEP 4: open bottom desk drawer, place book in drawer, close drawer | STEP 5: turn around, go to small desk with book to the right | STEP 6: pick up book from small desk | STEP 7: go to desk to the right | STEP 8: open bottom drawer, place book in drawer, close drawer | END