Task: Put two books on a bed.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.906          -0.5           0              270            0
   1  Mug             -1.400         0.979          -1.443         0              270            0              37
   2  Statue          -0.995         0.989          -1.362         0              0              0              37
   3  KeyChain        -1.587         0.421          -1.480         0              90             0              38
   4  CellPhone       -0.387         0.983          -1.524         0              0              0              37
   5  CreditCard      -0.995         0.981          -1.200         0              0              0              37
   6  Book            -0.590         0.982          -1.606         0              0              0              37
   7  Book            -0.590         0.983          -1.362         0              0              0              37
   8  Laptop          -1.163         0.894          1.160          0              0              0              31
   9  Laptop          -1.026         0.894          2.039          0              0              0              31
  10  Book            -1.400         0.982          -1.281         0              0              0              37
  11  Box             1.563          0.286          -1.069         0              347.500        0
  12  BasketBall      -1.657         0.126          -0.090         0              0              0
  13  Pen             -0.621         1.542          -1.475         0              0              0              39
  14  Pencil          -0.621         1.539          -1.632         0              0              0              39
  15  Laptop          -1.435         0.894          1.746          0              0              0              31
  16  Pillow          -1.571         0.952          2.332          0              0              0              31
  17  KeyChain        -1.382         1.536          -1.632         0              90             0              39
  18  Bowl            -0.995         0.982          -1.606         0              0              0              37
  19  CreditCard      -1.238         0.098          -1.390         0              0              0              35
  20  CellPhone       -1.413         0.422          -1.345         0              0              0              38
  21  CD              -0.387         0.981          -1.362         0              0              0              37
  22  AlarmClock      -1.572         1.537          -1.553         0              0              0              39
  23  Mug             -0.811         1.534          -1.671         0              0              0              39
  24  Statue          -1.198         0.988          -1.524         0              0              0              37
  25  Mirror          1.907          1.387          0.973          0              90             0
  26  LaundryHamper   -0.351         0.007          2.368          0              164.999        0
  27  DeskLamp        -0.343         1.545          -1.564         0              0              0
  28  GarbageCan      -0.035         0.007          -1.530         0              270            0
  29  Window          1.009          1.514          -2.089         90             0              0
  30  LightSwitch     0.397          1.197          2.729          0              180            0
  31  Bed             -1.299         1.937          1.441          0              0              0
  32  Blinds          1.064          2.382          -2.094         0              0              0
  33  Chair           0.884          0.012          -1.433         0              29.871         0
  34  Chair           -0.646         0.007          -1.206         0              195.000        0
  35  Drawer          -1.409         0.233          -1.303         0              0              0
  36  Drawer          -1.407         0.847          -1.302         0              0              0
  37  Desk            -0.993         0.006          -1.410         0              0              0
  38  Drawer          -1.408         0.558          -1.302         0              0              0
  39  Shelf           0.003          0.013          0.035          0              0              0
  40  NorthWall
  41  EastWall
  42  SouthWall
  43  WestWall

Plan:
STEP 1: Turn to the left, go forward to the desk.  | STEP 2: Pick up the book that is closest to the back of the desk.  | STEP 3: Turn around and go to the garbage can, hang a left and go to the bed.  | STEP 4: Put the book on the bed between the three computers.  | STEP 5: Turn left, go to the desk, turn right, go to the wall, turn left and go to the desk.  | STEP 6: Pick up the book that is in front of the coffee cup on the desk.  | STEP 7: Turn around and go to the bed, then hang a right, go past the bed and hang a left, go to bed where the computers are at.  | STEP 8: Put the book on the bed to the left of the other book.  | END