Task: place two books on the bed.

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           0.900          -0.25          0              90             0
   1  CreditCard      2.333          0.842          -0.877         0              0              0              31
   2  CreditCard      2.333          0.842          -0.352         0              0              0              31
   3  Book            2.170          0.460          -0.581         0              90             0              29
   4  Book            2.238          0.844          -0.615         0              0              0              31
   5  Book            2.238          0.844          -0.090         0              0              0              29
   6  AlarmClock      -0.509         0.925          -0.391         0              0              0              36
   7  AlarmClock      -0.509         0.925          -1.459         0              0              0              36
   8  Pillow          -0.309         0.617          1.848          0              0              0              21
   9  Box             2.15           0.14           0.494          0              12.243         0
  10  Book            -0.131         0.926          -0.604         0              0              0              36
  11  BasketBall      -0.235         0.120          0.166          0              0              0
  12  Pen             -0.402         0.094          -0.285         0              0              0              35
  13  Pillow          -0.148         0.617          0.678          0              0              0              21
  14  Pencil          2.225          0.053          2.606          0              0              0              27
  15  CellPhone       0.494          0.552          2.433          0              0              0              21
  16  KeyChain        -0.140         0.089          -0.653         0              0              0              35
  17  CreditCard      -0.140         0.088          -0.377         0              0              0              35
  18  AlarmClock      -0.509         0.925          -0.177         0              0              0              36
  19  CD              -0.404         0.667          -0.469         0              0              0              37
  20  Laptop          -0.428         0.919          -0.901         0              20.959         0              36
  21  Bed             0.009          -0.004         1.577          0              0              0
  22  DeskLamp        -0.669         0.923          -0.062         0              90             0
  23  Painting        -0.787         1.809          -0.215         90             270            0
  24  Painting        -0.787         1.809          1.023          90             270            0
  25  Mirror          2.118          1.277          2.749          0              0              0
  26  LightSwitch     0.726          1.200          2.75           0              180            0
  27  GarbageCan      2.257          -0.008         2.603          353.970        0              0
  28  Window          0.665          1.356          -1.911         90             0              0
  29  Drawer          2.119          0.576          -0.491         4.458          270            0
  30  Drawer          2.147          0.213          -0.491         4.458          270            0
  31  SideTable       2.226          0.013          -0.492         4.458          270            0
  32  Chair           0.170          0.011          -1.214         0              261.719        0
  33  Blinds          0.695          1.983          -1.867         0              0              0
  34  Drawer          -0.079         0.513          -0.394         0              90             0
  35  Drawer          -0.079         0.226          -0.394         0              90             0
  36  Desk            -0.391         0.001          -0.811         0              90             0
  37  Drawer          -0.079         0.762          -0.394         0              90             0
  38  NorthWall
  39  EastWall
  40  SouthWall
  41  WestWall

Plan:
STEP 1: move forward to the drawer | STEP 2: pick up the book | STEP 3: turn around to the bed | STEP 4: drop the book on the bed | STEP 5: turn around and head to the drawer | STEP 6: pick up the book on the drawer | STEP 7: turn around and head to the bed | STEP 8: place the book on the bed | END