Task: To put two books on the bed.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.75           0.900          -1.0           0              270            0
   1  Mug             3.210          0.543          -1.419         0              0              0              32
   2  Pen             2.307          0.804          -1.605         0              0              0              33
   3  Pencil          3.103          0.803          -1.482         0              180            0              33
   4  Pencil          1.24           0.515          -1.672         0              0              0              35
   5  Book            2.506          0.797          -1.543         0              0              0              33
   6  Book            2.881          0.791          -1.623         0              39.196         0              33
   7  KeyChain        1.317          0.517          -1.752         0              0              0              35
   8  TissueBox       3.103          0.800          -1.358         0              0              0              33
   9  TeddyBear       -0.075         0.562          -0.274         353.177        297.143        5.348          20
  10  Pencil          2.825          0.796          -1.432         0              315            0              33
  11  CreditCard      3.098          0.545          -1.397         0              0              0              32
  12  TennisRacket    -0.921         0.344          0.390          13.911         273.938        195.992        Floor|+00.39|
  13  Laptop          0.064          0.568          -0.905         0              0              0              20
  14  AlarmClock      1.108          0.510          -1.673         0              345.198        0              35
  15  Pen             2.904          0.804          -1.358         0              0              0              33
  16  Pillow          0.299          0.643          -1.557         0              0              0              20
  17  CellPhone       2.307          0.798          -1.666         0              0              0              33
  18  CD              1.240          0.282          -1.635         0              180            0              34
  19  Mug             2.307          0.796          -1.482         0              0              0              33
  20  Bed             0.227          -0.003         -0.947         0              180            0
  21  Mirror          0.615          1.264          1.029          0              0              0
  22  GarbageCan      3.166          -0.011         -0.264         4.636          271.335        0
  23  DeskLamp        3.164          0.794          -1.664         0              315            0
  24  HousePlant      -0.833         0.000          0.843          0              0              0
  25  LightSwitch     2.010          1.126          1.029          0              180            0
  26  Window          1.794          1.677          -1.939         90             180            0
  27  Window          0.691          1.361          -1.938         90             180            0
  28  Dumbbell        2.628          0.001          -1.613         0              346.954        0
  29  Blinds          1.776          1.993          -1.858         0              0              0
  30  Blinds          0.670          1.993          -1.858         0              0              0
  31  Chair           2.255          0.004          -1.501         0              167.716        0
  32  Shelf           3.034          0.637          -1.580         0              0              0
  33  Desk            2.500          0.002          -1.596         0              0              0
  34  Drawer          1.240          0.354          -1.553         0              0              0
  35  SideTable       1.239          0.003          -1.551         0              0              0
  36  Drawer          1.240          0.126          -1.553         0              0              0
  37  NorthWall
  38  EastWall
  39  SouthWall
  40  WestWall

Plan:
STEP 1: Turn to the right, take a step, turn the right, take two steps, turn to the right and walk forward to face the table. | STEP 2: Pick up the book on the table. | STEP 3: Turn around, take a step, turn to the left, take a step, turn to the left, take a step then turn to the right and walk forward to the bed. | STEP 4: PUt the book on the bed. | STEP 5: Turn to the right, take a step, turn to the right, walk across the room, turn to the right and walk forward to the table. | STEP 6: Pick up the book off of the table. | STEP 7: Turn around, take a step, turn to the left, take two steps, turn to the left and take a step, the turn right and walk forward to face the bed. | STEP 8: Place the book on the bed to the right of the other book. | END