Task: put the 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           -0.5           0.901          -0.25          0              180            0
   1  CD              -0.634         0.662          0.643          0              180            0              33
   2  CD              -0.615         0.090          0.503          0              0              0              34
   3  Pen             -0.362         0.699          -2.064         0              90             0              30
   4  Pencil          1.214          0.697          -2.266         0              90             0              30
   5  Book            0.845          0.691          -2.125         0              90             0              30
   6  Pillow          -1.871         0.703          -1.023         0              0              0              21
   7  AlarmClock      -0.413         0.664          0.470          0              180            0              33
   8  Box             -0.015         0.239          -2.091         0              0              0
   9  Book            -0.782         0.661          0.600          0              180            0              33
  10  BaseballBat     1.798          0.639          0.425          0              0              342.316
  11  Pen             0.139          0.692          -2.127         0              0              0              30
  12  Pencil          1.474          0.477          -0.813         0              270            0              29
  13  KeyChain        -0.561         0.663          0.470          0              180            0              33
  14  Pillow          -1.871         0.703          -0.198         0              0              0              21
  15  CreditCard      -0.506         0.369          0.526          0              0              0              32
  16  CellPhone       -1.171         0.631          -1.023         0              0              0              21
  17  Laptop          1.641          0.686          -1.011         0              270            0              30
  18  CD              -0.006         0.693          -2.061         0              99.090         0              30
  19  Bowl            1.497          0.695          -1.576         0              0              0              30
  20  AlarmClock      1.684          0.694          -1.576         0              0              0              30
  21  Bed             -1.696         0.004          -0.446         0              0              0
  22  Chair           0.956          -0.000         -1.747         0              110.225        0
  23  DeskLamp        -0.440         0.688          -2.276         0              0              0
  24  LightSwitch     0.625          1.338          0.734          0              180            0
  25  GarbageCan      1.660          -0.019         -0.389         0              345.008        0
  26  Mirror          1.300          1.422          0.765          0              0              0
  27  HousePlant      -0.867         0.000          -2.286         0              0              0
  28  Window          0.819          1.496          -2.553         90             180            0
  29  Shelf           1.616          0.561          -0.802         0              0              0
  30  Desk            0.617          -0.000         -1.511         0              0              0
  31  Blinds          0.796          2.217          -2.476         0              0              0
  32  Drawer          -0.558         0.456          0.462          0              180            0
  33  SideTable       -0.557         -0.000         0.529          0              180            0
  34  Drawer          -0.558         0.164          0.462          0              180            0
  35  Desktop         1.455          0.692          -1.886         358.180        309.674        0
  36  NorthWall
  37  EastWall
  38  SouthWall
  39  WestWall

Plan:
STEP 1:  Turn around  to the little table next to the bed  | STEP 2: pick up the book that is on the little table next to the bed | STEP 3: turn to the bed  | STEP 4:  set the book down on the bed | STEP 5:  turn then  walk to the desk | STEP 6:  pick up the book that is on the desk | STEP 7:  turn to the bed walk to the bed | STEP 8:  put the book down  on the bed    | END