Task: Move two books from a desk and put on bed.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.901          -1.5           0              90             0
   1  CellPhone       -1.696         0.631          -1.297         0              0              0              23
   2  CellPhone       -1.871         0.631          0.351          0              0              0              23
   3  Pencil          1.550          0.697          -1.624         0              18.354         0              32
   4  Pencil          0.217          0.697          -2.025         0              99.090         0              32
   5  CreditCard      -0.397         0.369          0.526          0              0              0              34
   6  KeyChain        0.358          0.693          -2.047         0              99.090         0              32
   7  KeyChain        1.474          0.473          -0.813         0              270            0              31
   8  Book            1.668          0.691          -1.865         0              18.354         0              32
   9  AlarmClock      -0.487         0.664          0.600          0              180            0              35
  10  Box             -0.015         0.239          -2.091         0              0              0
  11  Book            1.371          0.692          -1.968         0              18.354         0              32
  12  BaseballBat     1.798          0.639          0.425          0              0              342.316
  13  Pen             1.527          0.479          -0.764         0              270            0              31
  14  Pencil          1.684          0.697          -1.576         0              0              0              32
  15  KeyChain        -0.506         0.370          0.503          0              0              0              34
  16  Pillow          -2.046         0.703          -0.198         0              0              0              23
  17  CreditCard      -0.670         0.369          0.503          0              0              0              34
  18  CellPhone       -1.346         0.631          -0.473         0              0              0              23
  19  Laptop          1.641          0.686          -1.011         0              270            0              32
  20  CD              -0.148         0.693          -2.148         0              90             0              32
  21  Bowl            0.477          0.695          -2.125         0              90             0              32
  22  AlarmClock      -0.716         0.657          0.570          0              180            0              35
  23  Bed             -1.696         0.004          -0.446         0              0              0
  24  Chair           0.956          -0.000         -1.747         0              110.225        0
  25  DeskLamp        -0.440         0.688          -2.276         0              0              0
  26  LightSwitch     0.625          1.338          0.734          0              180            0
  27  GarbageCan      1.660          -0.019         -0.389         0              345.008        0
  28  Mirror          1.300          1.422          0.765          0              0              0
  29  HousePlant      -0.867         0.000          -2.286         0              0              0
  30  Window          0.819          1.496          -2.553         90             180            0
  31  Shelf           1.616          0.561          -0.802         0              0              0
  32  Desk            0.617          -0.000         -1.511         0              0              0
  33  Blinds          0.796          2.217          -2.476         0              0              0
  34  Drawer          -0.558         0.456          0.462          0              180            0
  35  SideTable       -0.557         -0.000         0.529          0              180            0
  36  Drawer          -0.558         0.164          0.462          0              180            0
  37  Desktop         1.455          0.692          -1.886         358.180        309.674        0
  38  NorthWall
  39  EastWall
  40  SouthWall
  41  WestWall

Plan:
STEP 1: Turn left, proceed across to desk.  Turn right to face chair. | STEP 2: Pick up book closest to you from desk on your left. | STEP 3: Turn right, proceed to bed. | STEP 4: Place book on bed, to the right of the phone on the center of the bed. | STEP 5: Turn around, proceed to wall.  Turn right, proceed to chair. | STEP 6: Pick up book from desk, in front of computer. | STEP 7: Turn right, proceed to bed. | STEP 8: Place book on bed directly to the left of the other book. | END