Task: Put 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           0.25           0.906          2.0            0              0              0
   1  Bowl            -0.811         1.537          -1.632         0              0              0              44
   2  KeyChain        -1.500         0.421          -1.300         0              90             0              43
   3  KeyChain        -0.590         0.982          -1.362         0              0              0              42
   4  CellPhone       -0.842         2.053          1.453          0              0              0              36
   5  CellPhone       -0.590         0.982          -1.606         0              0              0              42
   6  Pencil          -0.590         0.984          -1.687         0              0              0              42
   7  Pencil          -1.674         0.425          -1.435         0              0              0              43
   8  CreditCard      -1.198         0.981          -1.200         0              0              0              42
   9  CreditCard      -1.587         0.421          -1.300         0              0              0              43
  10  Book            -0.387         0.983          -1.281         0              0              0              42
  11  Book            -0.387         0.982          -1.524         0              0              0              42
  12  Book            -0.621         1.537          -1.553         0              0              0              44
  13  Laptop          -1.571         0.894          2.332          0              0              0              36
  14  AlarmClock      -1.001         1.537          -1.632         0              0              0              44
  15  Book            -1.400         0.983          -1.524         0              0              0              42
  16  Box             1.563          0.286          -1.069         0              347.500        0
  17  BasketBall      -1.657         0.126          -0.090         0              0              0
  18  Pen             -1.603         0.987          -1.200         0              0              0              42
  19  Pencil          -1.198         0.984          -1.687         0              0              0              42
  20  Laptop          -1.163         0.894          1.746          0              0              0              36
  21  Pillow          -1.280         0.917          0.478          0              0              0              36
  22  KeyChain        -1.572         1.536          -1.632         0              0              0              44
  23  Bowl            -1.198         0.982          -1.443         0              0              0              42
  24  CreditCard      -0.430         1.536          -1.671         0              0              0              44
  25  CellPhone       -1.326         0.422          -1.390         0              0              0              43
  26  CD              -0.995         0.981          -1.606         0              0              0              42
  27  AlarmClock      -1.603         0.982          -1.443         0              0              0              42
  28  Mug             -1.191         1.534          -1.632         0              0              0              44
  29  Statue          -1.503         1.528          -1.590         0              0              0              44
  30  Mirror          1.907          1.387          0.973          0              90             0
  31  LaundryHamper   -0.351         0.007          2.368          0              164.999        0
  32  DeskLamp        -0.343         1.545          -1.564         0              0              0
  33  GarbageCan      -0.035         0.007          -1.530         0              270            0
  34  Window          1.009          1.514          -2.089         90             0              0
  35  LightSwitch     0.397          1.197          2.729          0              180            0
  36  Bed             -1.299         1.937          1.441          0              0              0
  37  Blinds          1.064          2.382          -2.094         0              0              0
  38  Chair           0.884          0.012          -1.433         0              29.871         0
  39  Chair           -0.646         0.007          -1.206         0              195.000        0
  40  Drawer          -1.409         0.233          -1.303         0              0              0
  41  Drawer          -1.407         0.847          -1.302         0              0              0
  42  Desk            -0.993         0.006          -1.410         0              0              0
  43  Drawer          -1.408         0.558          -1.302         0              0              0
  44  Shelf           0.003          0.013          0.035          0              0              0
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: Go across the room to the trash can by the desk. | STEP 2: Pick up the book on top of the other book on the desk. | STEP 3: Go across the room to the bed. | STEP 4: Lay the book on the bed to the left of the laptop. | STEP 5: Go to the right side of the desk. | STEP 6: Pick up the book between the clock and bowl on the desk. | STEP 7: Go across the room to the bed. | STEP 8: Set the book down in front of the laptop near the edge of the bed. | END