Task: Put the books on the desk.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.900          -1.0           0              180            0
   1  Bowl            -1.052         0.794          -0.600         0              0              0              45
   2  Bowl            -1.283         1.824          -1.431         0              0              0              32
   3  CD              1.745          0.039          0.435          0              0              0              41
   4  CD              1.640          0.039          0.328          0              0              0              41
   5  CellPhone       -1.265         0.794          -0.385         0              0              0              45
   6  CellPhone       0.227          0.682          1.303          0              0              0              37
   7  Pencil          0.305          0.684          1.167          0              0              0              37
   8  Pen             -0.180         0.842          -2.141         0              0              0              28
   9  Pen             -1.052         0.798          -1.671         0              0              0              45
  10  Book            1.387          0.578          -0.166         0              0              0              46
  11  Book            1.532          0.578          -0.649         0              0              0              46
  12  Pencil          -0.376         0.796          -1.504         0              0              0              45
  13  Laptop          1.098          0.574          -0.891         0              0              0              24
  14  Pen             -1.259         0.798          -1.696         0              0              0              45
  15  TennisRacket    -1.226         0.301          -0.069         15.000         180            180
  16  TeddyBear       1.629          0.557          -1.064         0              118.287        0              46
  17  Pillow          1.215          0.641          -1.663         0              0              0              24
  18  CellPhone       -0.981         0.794          -1.243         0              0              0              45
  19  KeyChain        -0.180         0.837          -2.072         0              90             0              28
  20  AlarmClock      -0.720         0.838          -2.107         0              0              0              28
  21  CreditCard      -1.230         1.822          -0.339         0              0              0              31
  22  CD              0.451          0.479          -1.561         0              0              0              43
  23  Bowl            -1.265         0.794          -0.600         0              0              0              45
  24  Bed             1.242          -0.001         -0.881         0              180            0
  25  LightSwitch     0.010          1.315          1.499          0              180            0
  26  GarbageCan      0.840          0.007          1.337          0              180            2.168
  27  HousePlant      -0.083         0.828          -2.045         0              0              0
  28  Shelf           -0.469         0.828          -2.038         0              0              0
  29  Shelf           -1.286         1.451          -1.343         0              0              0
  30  Shelf           -1.286         1.451          -0.602         0              0              0
  31  Shelf           -1.286         1.814          -0.602         0              0              0
  32  Shelf           -1.286         1.814          -1.343         0              0              0
  33  Painting        1.111          1.628          -1.865         90             0              0
  34  DeskLamp        0.473          0.669          1.350          0              0              0
  35  Mirror          -1.383         1.565          0.512          0              270            0
  36  Window          -0.472         1.396          -2.252         90             0              0
  37  SideTable       0.304          -0.001         1.225          0              180            0
  38  Drawer          0.304          0.165          1.159          0              180            0
  39  Drawer          0.304          0.457          1.159          0              180            0
  40  Blinds          -0.453         2.156          -2.242         0              0              0
  41  Safe            1.623          5.960          0.448          0              270            0
  42  Chair           -0.683         0.000          -1.326         0              217.223        0
  43  Drawer          0.416          0.532          -1.553         0              0              0
  44  SideTable       0.413          0.000          -1.684         0              0              0
  45  Desk            -0.788         0.000          -1.032         0              90             0
  46
  47  NorthWall
  48  EastWall
  49  SouthWall
  50  WestWall

Plan:
STEP 1: Turn left, go to the bed. | STEP 2: Pick up the book next to the stuffed animal on the bed. | STEP 3: Turn around, go to the right side of the desk. | STEP 4: Put the book to the left of the vase on the desk. | STEP 5: Turn around, go to the safe, turn right to the bed. | STEP 6: Pick up the book on the bed. | STEP 7: Turn right, go to the right side of the desk. | STEP 8: Put the book to the right of the vase on the desk. | END