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           -0.5           0.901          -1.5           0              270            0
   1  CD              1.622          0.692          -1.409         0              0              0              31
   2  CD              1.559          0.693          -1.241         0              0              0              31
   3  Pen             0.335          0.699          -2.188         0              99.090         0              31
   4  Pen             -0.561         0.661          0.555          16.581         180            0              34
   5  Pencil          -0.634         0.666          0.427          0              180            0              34
   6  Book            -0.413         0.655          0.600          0              180            0              34
   7  Book            -0.506         0.692          -1.980         0              90             0              31
   8  Laptop          -2.046         0.628          -1.023         0              0              0              22
   9  Box             -0.015         0.239          -2.091         0              0              0
  10  Book            1.489          0.691          -2.007         0              18.354         0              31
  11  BaseballBat     1.798          0.639          0.425          0              0              342.316
  12  Pen             -0.339         0.668          0.600          0              270            0              34
  13  Pencil          1.492          0.477          -0.862         0              270            0              30
  14  KeyChain        1.214          0.694          -2.055         0              90             0              31
  15  Pillow          -1.694         0.656          0.415          0              0              0              22
  16  CreditCard      -0.782         0.663          0.470          0              180            0              34
  17  CellPhone       -1.171         0.631          -1.023         0              0              0              22
  18  Laptop          -1.346         0.628          -0.473         0              0              0              22
  19  CD              0.298          0.693          -1.966         0              99.090         0              31
  20  Bowl            1.684          0.695          -1.576         0              0              0              31
  21  AlarmClock      -0.704         0.657          0.578          0              182.128        0              34
  22  Bed             -1.696         0.004          -0.446         0              0              0
  23  Chair           0.956          -0.000         -1.747         0              110.225        0
  24  DeskLamp        -0.440         0.688          -2.276         0              0              0
  25  LightSwitch     0.625          1.338          0.734          0              180            0
  26  GarbageCan      1.660          -0.019         -0.389         0              345.008        0
  27  Mirror          1.300          1.422          0.765          0              0              0
  28  HousePlant      -0.867         0.000          -2.286         0              0              0
  29  Window          0.819          1.496          -2.553         90             180            0
  30  Shelf           1.616          0.561          -0.802         0              0              0
  31  Desk            0.617          -0.000         -1.511         0              0              0
  32  Blinds          0.796          2.217          -2.476         0              0              0
  33  Drawer          -0.558         0.456          0.462          0              180            0
  34  SideTable       -0.557         -0.000         0.529          0              180            0
  35  Drawer          -0.558         0.164          0.462          0              180            0
  36  Desktop         1.455          0.692          -1.886         358.180        309.674        0
  37  NorthWall
  38  EastWall
  39  SouthWall
  40  WestWall

Plan:
STEP 1: Turn to the left and face the desk with the lamp. | STEP 2: Pick the book up from the desk. | STEP 3: Turn around and face the bed. | STEP 4: Put the book down on the bed. | STEP 5: Turn around and stand on the side of the night stand and face the book. | STEP 6: Pick the book up from the night stand. | STEP 7: Turn to the left and then the right to face the bed. | STEP 8: Put the book down on the bed. | END