Task: Put 2 books on a bed.

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            0.906          -0.25          0              90             0
   1  Mug             -0.811         1.534          -1.671         0              0              0              46
   2  Mug             -1.603         0.980          -1.443         0              0              0              44
   3  Statue          -1.198         0.988          -1.362         0              0              0              44
   4  Statue          -1.400         0.989          -1.362         0              0              0              44
   5  CD              -1.400         0.981          -1.200         0              0              0              44
   6  CD              -1.674         0.097          -1.345         0              0              0              42
   7  CellPhone       -0.995         0.983          -1.524         0              0              0              44
   8  CellPhone       -1.326         0.422          -1.300         0              0              0              45
   9  Pen             -0.995         0.988          -1.281         0              0              0              44
  10  Pencil          -0.058         0.093          -1.492         0              270            0              35
  11  CreditCard      -0.995         0.982          -1.687         0              0              0              44
  12  CreditCard      -1.198         0.982          -1.606         0              0              0              44
  13  Book            -0.387         0.982          -1.606         0              0              0              44
  14  Book            -0.590         0.983          -1.362         0              0              0              44
  15  Pillow          -1.299         0.952          2.332          0              0              0              38
  16  Laptop          -1.163         0.894          0.868          0              0              0              38
  17  Book            -0.792         0.982          -1.443         0              0              0              44
  18  Box             1.563          0.286          -1.069         0              347.500        0
  19  BasketBall      -1.657         0.126          -0.090         0              0              0
  20  Pen             -0.621         1.542          -1.553         0              0              0              46
  21  Pencil          -0.387         0.984          -1.443         0              0              0              44
  22  Laptop          -1.571         0.894          1.160          0              0              0              38
  23  Pillow          -1.280         0.917          0.478          0              0              0              38
  24  KeyChain        -0.621         1.536          -1.710         0              90             0              46
  25  Bowl            -1.183         1.528          -1.590         0              0              0              46
  26  CreditCard      -1.001         1.536          -1.671         0              0              0              46
  27  CellPhone       -1.435         0.896          2.039          0              0              0              38
  28  CD              -1.674         0.421          -1.255         0              0              0              45
  29  AlarmClock      -1.400         0.982          -1.524         0              0              0              44
  30  Mug             -0.861         0.975          -1.628         0              37.778         0              44
  31  Statue          -1.503         1.528          -1.590         0              0              0              46
  32  Mirror          1.907          1.387          0.973          0              90             0
  33  LaundryHamper   -0.351         0.007          2.368          0              164.999        0
  34  DeskLamp        -0.343         1.545          -1.564         0              0              0
  35  GarbageCan      -0.035         0.007          -1.530         0              270            0
  36  Window          1.009          1.514          -2.089         90             0              0
  37  LightSwitch     0.397          1.197          2.729          0              180            0
  38  Bed             -1.299         1.937          1.441          0              0              0
  39  Blinds          1.064          2.382          -2.094         0              0              0
  40  Chair           0.884          0.012          -1.433         0              29.871         0
  41  Chair           -0.646         0.007          -1.206         0              195.000        0
  42  Drawer          -1.409         0.233          -1.303         0              0              0
  43  Drawer          -1.407         0.847          -1.302         0              0              0
  44  Desk            -0.993         0.006          -1.410         0              0              0
  45  Drawer          -1.408         0.558          -1.302         0              0              0
  46  Shelf           0.003          0.013          0.035          0              0              0
  47  NorthWall
  48  EastWall
  49  SouthWall
  50  WestWall

Plan:
STEP 1: Turn around, go straight to the wall, turn left to face the desk. | STEP 2: Take the book most to the right from the desk. | STEP 3: Turn around, go straight to the bed, turn right, go straight past the bed, turn left, go straight, turn left to face the side of the bed. | STEP 4: Put the book on the bed. | STEP 5: Turn left, go straight to the garbage can to the left of the desk. | STEP 6: Take the book on the left of the desk. | STEP 7: Turn around, go back to the side of the bed and face the bed. | STEP 8: Put the book to the right of the other book. | END