Task: Put two books on a dresser.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.0           0.901          0.5            0              90             0
   1  Bowl            0.201          0.973          -1.852         0              270            0              35
   2  CD              0.604          0.970          -1.631         0              270            0              35
   3  Pen             0.201          0.976          -1.631         0              270            0              35
   4  KeyChain        2.332          0.470          1.394          0              270            0              33
   5  Book            0.649          0.417          0.086          0              0              0              45
   6  Book            1.640          0.417          0.419          0              0              0              45
   7  Pillow          0.897          0.477          -0.247         0              0              0              45
   8  Laptop          1.640          0.413          -0.080         0              0              0              45
   9  Box             -1.751         0.252          1.499          0              340.773        0              Floor|+00.00|
  10  Book            2.135          0.417          -0.247         0              0              0              45
  11  Cloth           -1.146         0.000          -2.123         0              0              0              Floor|+00.00|
  12  CellPhone       1.538          0.043          -2.029         0              88.075         0              48
  13  Pencil          2.160          0.570          1.512          0              180            0              33
  14  AlarmClock      2.153          0.565          1.23           0              213.033        0              33
  15  TeddyBear       -2.236         0.000          1.457          0              319.128        0              Floor|+00.00|
  16  CreditCard      -0.602         0.972          -1.926         0              270            0              35
  17  KeyChain        0.491          0.800          -1.768         0              270            0              37
  18  Pillow          2.11           0.422          0.331          0              270            0              45
  19  Pillow          0.649          0.477          0.419          0              0              0              45
  20  Laptop          -0.5           0.965          -1.715         0              24.156         0              35
  21  Bowl            0.471          0.965          -1.856         0              0              0              35
  22  Cloth           -1.288         0.000          -1.936         0              357.341        356.936        Floor|+00.00|
  23  CD              1.702          0.040          -2.128         0              88.075         0              48
  24  Pen             -0.394         0.042          -1.598         0              270            0              36
  25  DeskLamp        2.302          0.561          1.435          0              315            0
  26  GarbageCan      -2.208         -0.023         -1.742         0              77.663         0
  27  Poster          2.439          1.508          0.014          90             270            0
  28  LightSwitch     -2.457         1.274          -0.096         0              90             0
  29  Mirror          2.454          1.322          -1.414         0              90             0
  30  Window          -1.440         1.815          -2.354         90             0              0
  31  Window          1.401          1.815          -2.354         90             0              0
  32  Drawer          2.251          0.468          1.333          0              270            0
  33  SideTable       2.243          -0.001         1.331          0              270            0
  34  Drawer          -0.385         0.681          -1.631         0              0              0
  35  Dresser         0.011          0.001          -1.676         0              0              0
  36  Drawer          -0.385         0.105          -1.631         0              0              0
  37  Drawer          0.408          0.868          -1.632         0              0              0
  38  Drawer          -0.385         0.487          -1.631         0              0              0
  39  Drawer          -0.385         0.868          -1.632         0              0              0
  40  Drawer          0.408          0.681          -1.631         0              0              0
  41  Drawer          0.408          0.105          -1.631         0              0              0
  42  Drawer          0.408          0.292          -1.631         0              0              0
  43  Drawer          -0.385         0.292          -1.631         0              0              0
  44  Drawer          0.408          0.487          -1.631         0              0              0
  45  Bed             1.377          0.004          0.072          0              90             0
  46  Blinds          1.422          3.115          -2.339         0              0              0
  47  Blinds          -1.422         3.115          -2.339         0              0              0
  48  Safe            1.640          0.000          -2.040         0              355.244        0
  49  LaundryHamper   -1.564         0.001          -1.927         0              45             0
  50  NorthWall
  51  EastWall
  52  SouthWall
  53  WestWall

Plan:
STEP 1: Turn right, go forward to the trash bin, turn left, go forward to the wall, turn left to the bed. | STEP 2: Take the closest book from the bed. | STEP 3: Turn left, go forward, turn left at the dresser. | STEP 4: Put the book to the left of the pen on the dresser. | STEP 5: Turn around, go forward, turn right to face the bed. | STEP 6: Take the closest book from the bed. | STEP 7: Turn right, go forward to the dresser, go left a step, face the dresser. | STEP 8: Put the book to the right of the pen on the dresser. | END