Task: Place two CD's in a 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           -1.25          0.906          -0.5           0              0              0
   1  Bowl            -1.198         0.982          -1.281         0              0              0              39
   2  KeyChain        -1.238         0.098          -1.480         0              90             0              37
   3  CD              -1.198         0.981          -1.687         0              0              0              39
   4  CD              -1.400         0.982          -1.200         0              0              0              39
   5  CellPhone       -1.400         0.983          -1.443         0              0              0              39
   6  CellPhone       -1.603         0.983          -1.362         0              0              0              39
   7  Pen             -1.382         1.542          -1.593         0              0              0              41
   8  Pen             -1.413         0.427          -1.345         0              0              0              40
   9  Book            -1.413         0.740          -1.390         0              0              0              38
  10  Pillow          -1.026         0.952          1.160          0              0              0              33
  11  AlarmClock      -1.400         0.982          -1.606         0              0              0              39
  12  Book            -1.238         0.423          -1.345         0              0              0              40
  13  Box             1.563          0.286          -1.069         0              347.500        0
  14  BasketBall      -1.657         0.126          -0.090         0              0              0
  15  Pen             -0.590         0.987          -1.200         0              0              0              39
  16  Pencil          -0.590         0.985          -1.687         0              0              0              39
  17  Laptop          -1.299         0.894          0.575          0              0              0              33
  18  Pillow          -1.163         0.952          2.332          0              0              0              33
  19  KeyChain        -1.413         0.098          -1.300         0              0              0              37
  20  Bowl            -1.183         1.528          -1.590         0              0              0              41
  21  CreditCard      -1.326         0.098          -1.435         0              0              0              37
  22  CellPhone       -1.238         0.740          -1.390         0              0              0              38
  23  CD              -0.621         1.536          -1.593         0              0              0              41
  24  AlarmClock      -0.811         1.537          -1.671         0              0              0              41
  25  Mug             -0.387         0.979          -1.281         0              0              0              39
  26  Statue          -1.503         1.528          -1.590         0              0              0              41
  27  Mirror          1.907          1.387          0.973          0              90             0
  28  LaundryHamper   -0.351         0.007          2.368          0              164.999        0
  29  DeskLamp        -0.343         1.545          -1.564         0              0              0
  30  GarbageCan      -0.035         0.007          -1.530         0              270            0
  31  Window          1.009          1.514          -2.089         90             0              0
  32  LightSwitch     0.397          1.197          2.729          0              180            0
  33  Bed             -1.299         1.937          1.441          0              0              0
  34  Blinds          1.064          2.382          -2.094         0              0              0
  35  Chair           0.884          0.012          -1.433         0              29.871         0
  36  Chair           -0.646         0.007          -1.206         0              195.000        0
  37  Drawer          -1.409         0.233          -1.303         0              0              0
  38  Drawer          -1.407         0.847          -1.302         0              0              0
  39  Desk            -0.993         0.006          -1.410         0              0              0
  40  Drawer          -1.408         0.558          -1.302         0              0              0
  41  Shelf           0.003          0.013          0.035          0              0              0
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: Turn around to face the desk | STEP 2: Grab the cd on the back of the desk to the left of the clock. | STEP 3: Back up a bit from the desk and open the bottom drawer. | STEP 4: Place the cd in the outer left corner of the drawer. | STEP 5: Approach the front of the desk again. | STEP 6: Grab the CD nearest the edge of the desk. | STEP 7: Return to the bottom drawer of the desk. | STEP 8: Place the CD in the drawer, behind the other one. | END