Task: To put the books away.

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          0.5            0              180            0
   1  Bowl            -1.572         1.537          -1.593         0              0              0              51
   2  Mug             -0.590         0.979          -1.687         0              90             0              49
   3  Mug             -0.792         0.980          -1.443         0              0              0              49
   4  KeyChain        -1.413         0.098          -1.300         0              0              0              47
   5  CD              -1.587         0.097          -1.390         0              0              0              47
   6  CD              -0.995         0.981          -1.281         0              0              0              49
   7  CellPhone       -1.238         0.422          -1.345         0              0              0              50
   8  CellPhone       -1.163         0.896          2.332          0              0              0              43
   9  Pen             -1.500         0.744          -1.345         0              0              0              48
  10  Pen             -1.001         1.542          -1.475         0              0              0              51
  11  Pencil          -0.792         0.984          -1.362         0              0              0              49
  12  Pencil          -0.590         0.985          -1.200         0              0              0              49
  13  CreditCard      -1.382         1.536          -1.710         0              0              0              51
  14  CreditCard      -0.811         1.536          -1.710         0              0              0              51
  15  Book            -0.940         2.053          0.868          0              0              0              43
  16  Book            -0.621         1.537          -1.553         0              0              0              51
  17  Book            -1.163         0.897          0.868          0              0              0              43
  18  Pillow          -1.571         0.952          1.746          0              0              0              43
  19  Laptop          -1.571         0.894          0.868          0              0              0              43
  20  Laptop          -1.435         0.894          2.332          0              0              0              43
  21  AlarmClock      -1.400         0.982          -1.200         0              0              0              49
  22  Book            -0.590         0.982          -1.443         0              0              0              49
  23  Box             1.563          0.286          -1.069         0              347.500        0
  24  BasketBall      -1.657         0.126          -0.090         0              0              0
  25  Pen             -1.603         0.988          -1.443         0              0              0              49
  26  Pencil          -0.995         0.984          -1.524         0              0              0              49
  27  Laptop          -1.400         0.980          -1.524         0              0              0              49
  28  Pillow          -1.280         0.917          0.478          0              0              0              43
  29  KeyChain        -1.151         0.739          -1.480         0              90             0              48
  30  Bowl            -0.387         0.982          -1.524         0              0              0              49
  31  CreditCard      -0.995         0.982          -1.687         0              0              0              49
  32  CellPhone       -1.708         0.896          2.039          0              0              0              43
  33  CD              -0.792         0.982          -1.200         0              0              0              49
  34  AlarmClock      -1.001         1.537          -1.632         0              0              0              51
  35  Mug             -0.387         0.980          -1.200         0              0              0              49
  36  Statue          -1.198         0.988          -1.281         0              0              0              49
  37  Mirror          1.907          1.387          0.973          0              90             0
  38  LaundryHamper   -0.351         0.007          2.368          0              164.999        0
  39  DeskLamp        -0.343         1.545          -1.564         0              0              0
  40  GarbageCan      -0.035         0.007          -1.530         0              270            0
  41  Window          1.009          1.514          -2.089         90             0              0
  42  LightSwitch     0.397          1.197          2.729          0              180            0
  43  Bed             -1.299         1.937          1.441          0              0              0
  44  Blinds          1.064          2.382          -2.094         0              0              0
  45  Chair           0.884          0.012          -1.433         0              29.871         0
  46  Chair           -0.646         0.007          -1.206         0              195.000        0
  47  Drawer          -1.409         0.233          -1.303         0              0              0
  48  Drawer          -1.407         0.847          -1.302         0              0              0
  49  Desk            -0.993         0.006          -1.410         0              0              0
  50  Drawer          -1.408         0.558          -1.302         0              0              0
  51  Shelf           0.003          0.013          0.035          0              0              0
  52  NorthWall
  53  EastWall
  54  SouthWall
  55  WestWall

Plan:
STEP 1: Turn left and take one step, then turn right and walk across the room.  | STEP 2: Turn right to face the table and pick up the book. | STEP 3: Turn to the right and take one step, then turn to the left and walk across the room, then turn left and walk to the desk. | STEP 4: Open the bottom drawer and put the book inside.  | STEP 5: Turn around and take two steps, then turn left to face the bed.  | STEP 6: Take the book on the bed.  | STEP 7: Turn left and take two steps, then turn right and walk across the room, then turn left to face the desk.  | STEP 8: Open the bottom drawer and put the book in the drawer.  | END