Task: place two 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          -1.25          0              0              0
   1  CD              1.639          0.082          -0.930         0              90             0              35
   2  CellPhone       -0.901         1.349          -2.123         0              0              0              44
   3  Pencil          -0.935         1.780          -1.981         0              0              0              41
   4  CreditCard      -0.705         1.777          -1.981         0              0              0              41
   5  CreditCard      1.581          0.680          -0.910         0              270            0              36
   6  KeyChain        1.536          0.681          -0.755         0              270            0              36
   7  KeyChain        1.615          0.082          -1.102         0              90             0              35
   8  Book            0.868          0.646          0.418          0              0              0              28
   9  Book            0.584          0.646          0.418          0              0              0              28
  10  AlarmClock      -1.396         1.777          -2.281         0              0              0              41
  11  AlarmClock      -1.396         0.837          -2.293         0              90             0              41
  12  Pillow          1.720          0.739          0.777          0              0              0              28
  13  Book            1.720          0.646          0.598          0              0              0              28
  14  Box             -0.424         2.065          -2.027         0              352.503        0              41
  15  Pillow          1.152          0.739          0.777          0              0              0              28
  16  AlarmClock      1.626          0.680          -1.065         0              270            0              36
  17  BasketBall      -0.337         0.120          1.031          0              0              0              Floor|-00.16|
  18  BaseballBat     -1.602         0.022          0.356          90             8.736          0              Floor|-00.16|
  19  Pen             -1.626         1.783          -1.981         0              0              0              41
  20  CellPhone       -0.244         0.839          -1.645         0              0              0              41
  21  TennisRacket    -1.667         0.0            0.818          90             29.999         0              Floor|-00.16|
  22  Laptop          0.584          0.643          -0.120         0              0              0              28
  23  Pencil          -0.967         1.350          -2.074         0              0              0              44
  24  KeyChain        -1.165         1.777          -1.981         0              0              0              41
  25  CreditCard      -0.935         1.777          -2.161         0              0              0              41
  26  CD              0.128          0.143          -2.196         0              90             0              31
  27  Mirror          0.883          1.582          -2.399         0              180            0
  28  Bed             1.176          -0.002         0.238          0              90             0
  29  LightSwitch     1.899          1.297          -1.302         0              270            0
  30  Poster          -1.927         1.411          -1.455         90             90             0
  31  GarbageCan      0.128          -0.030         -2.146         0              90             0
  32  Window          -2.028         1.388          -0.270         90             270            0
  33  DeskLamp        -1.673         1.774          -2.190         0              0              0
  34  Drawer          1.624          0.453          -0.987         0              270            0
  35  Drawer          1.624          0.163          -0.987         0              270            0
  36  SideTable       1.691          0.002          -0.988         0              270            0
  37  Chair           -1.089         0.009          -1.570         0              166.824        0
  38  Blinds          -1.949         2.158          -0.252         0              90             0
  39  Cabinet         -0.241         1.534          -2.101         0              0              0
  40  Cabinet         -1.301         1.534          -2.101         0              0              0
  41  Desk            -0.962         0.003          -1.942         0              0              0
  42  Cabinet         -1.683         1.534          -2.101         0              0              0
  43  Cabinet         -0.623         1.534          -2.101         0              0              0
  44  Shelf           -0.962         1.534          -2.101         0              0              0
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: turn to face the right side of the bed | STEP 2: of the two books on the left side of the bed pick up the book on the right | STEP 3: turn around and walk to the left side of the desk | STEP 4: place the book on the desk | STEP 5: walk to and face the right side of the bed | STEP 6: pick up the book on the far right side of the bed | STEP 7: turn around and walk to the left side of the desk | STEP 8: place the book on the desk | END