Task: To move two books from the bed to 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           -0.5           0.937          2.75           0              270            0
   1  CellPhone       1.615          0.097          -2.893         0              90             0              51
   2  CellPhone       0.104          0.836          0.495          0              0              0              26
   3  Pen             -2.164         1.121          -2.817         0              0              0              33
   4  Pen             -0.276         0.090          -2.778         0              0              0              32
   5  CreditCard      -0.982         0.584          -2.934         0              0              0              29
   6  CreditCard      -0.632         0.584          -2.882         0              0              0              28
   7  Book            1.813          0.832          0.975          0              0              0              26
   8  RemoteControl   -2.251         0.193          3.593          0              180            0              46
   9  RemoteControl   -0.924         0.193          3.399          0              175.771        0              45
  10  AlarmClock      -0.602         1.118          -2.902         0              0              0              33
  11  Pillow          0.673          0.940          0.975          0              0              0              26
  12  Book            0.958          0.832          0.975          0              0              0              26
  13  AlarmClock      -2.164         1.118          -2.988         0              0              0              33
  14  CellPhone       -1.851         1.119          -2.732         0              0              0              33
  15  Pillow          1.785          0.87           0.309          0              270            0              26
  16  Pillow          1.243          0.940          0.975          0              0              0              26
  17  TeddyBear       1.868          0.036          -0.561         0              59.999         0              Floor|-00.06|
  18  CreditCard      -0.289         1.116          -3.243         0              0              0              33
  19  KeyChain        -1.539         1.117          -2.817         0              0              0              33
  20  Pencil          -1.16          0.587          -2.882         0              0              0              29
  21  Laptop          0.389          0.830          0.255          0              0              0              26
  22  RemoteControl   -0.543         0.085          -2.934         0              0              0              32
  23  CD              -1.16          0.583          -2.778         0              0              0              29
  24  Pen             -1.227         1.121          -2.732         0              0              0              33
  25  Mug             1.681          0.550          2.440          0              90             0              53
  26  Bed             0.967          0.049          0.667          0              90             0
  27  Cabinet         -3.0           1.497          -2.643         0              0              0
  28  Drawer          -0.365         0.785          -2.848         0              0              0
  29  Drawer          -1.159         0.785          -2.848         0              0              0
  30  Cabinet         2.064          1.497          -2.643         0              0              0
  31  Drawer          -1.159         0.285          -2.848         0              0              0
  32  Drawer          -0.365         0.285          -2.848         0              0              0
  33  Desk            -1.271         1.169          -2.987         0              0              0
  34  LightSwitch     -0.159         1.281          3.999          0              180            0
  35  GarbageCan      -3.338         0.022          -2.797         0              4.809          0
  36  HousePlant      -0.195         1.105          -3.084         0              0              0
  37  DeskLamp        1.863          0.581          2.431          0              0              0
  38  Mirror          -1.603         1.447          3.999          0              0              0
  39  Television      -3.883         1.771          2.122          0              90             0
  40  Window          -1.952         2.148          -3.302         90             180            0
  41  Window          -0.467         2.148          -3.302         90             180            0
  42  Window          -3.894         1.751          0.582          90             270            0
  43  Window          -3.894         1.751          -0.675         90             270            0
  44  LaundryHamper   1.831          0.058          3.689          0              354.434        1.354
  45  ArmChair        -0.948         0.051          3.583          0              175.988        0
  46  ArmChair        -2.172         0.051          3.598          0              180            0
  47  Blinds          -0.477         2.785          -3.253         0              0              0
  48  Blinds          -1.957         2.785          -3.253         0              0              0
  49  Blinds          -3.799         2.506          0.602          0              90             0
  50  Blinds          -3.799         2.506          -0.647         0              90             0
  51  Safe            1.673          0.054          -3.004         0              0              0
  52  ArmChair        -3.349         0.051          3.375          0              150.096        0
  53  SideTable       1.775          0.048          2.377          0              0              0
  54  Chair           -2.002         0.050          -2.532         0              165.000        0
  55  NorthWall
  56  EastWall
  57  SouthWall
  58  WestWall

Plan:
STEP 1: Turn right and step forward to face the side of the bed. | STEP 2: Pick up the book on the bed. | STEP 3: Turn right and walk around the bed to the left and walk forward to face the desk. | STEP 4: Place the book on the desk. | STEP 5: Turn around and walk across the room and turn around to the right and step forward to face the side of the bed. | STEP 6: Pick up the book on the bed. | STEP 7: Turn right and walk around the bed to the left and walk forward to face the desk. | STEP 8: Place the book on the desk. | END