Task: put two books on 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            0.900          -1.25          0              0              0
   1  CD              -0.351         0.667          -0.561         0              0              0              38
   2  CD              -0.603         0.924          -0.391         0              0              0              37
   3  Pen             -0.402         0.382          -0.561         0              0              0              36
   4  Pencil          2.197          0.052          2.551          0              0              0              28
   5  Pencil          2.333          0.846          -0.221         0              0              0              32
   6  KeyChain        2.170          0.461          -0.288         0              0              0              30
   7  KeyChain        2.190          0.843          -0.352         0              0              0              32
   8  Book            -0.414         0.926          -0.177         0              0              0              37
   9  Book            2.238          0.844          -0.090         0              0              0              30
  10  Box             2.15           0.14           0.494          0              12.243         0
  11  Book            2.170          0.460          -0.484         0              90             0              30
  12  BasketBall      -0.235         0.120          0.166          0              0              0
  13  Pen             2.143          0.848          -0.484         0              0              0              32
  14  Pillow          -0.025         0.561          2.458          0              0              0              22
  15  Pencil          2.143          0.846          -0.877         0              0              0              32
  16  CellPhone       -0.131         0.926          -0.604         0              0              0              37
  17  KeyChain        2.380          0.843          -0.615         0              0              0              32
  18  CreditCard      -0.603         0.925          -1.459         0              0              0              37
  19  AlarmClock      2.303          0.836          -0.829         0              285.000        0              32
  20  CD              2.145          0.096          -0.581         0              0              0              31
  21  Laptop          -0.309         0.548          1.263          0              0              0              22
  22  Bed             0.009          -0.004         1.577          0              0              0
  23  DeskLamp        -0.669         0.923          -0.062         0              90             0
  24  Painting        -0.787         1.809          -0.215         90             270            0
  25  Painting        -0.787         1.809          1.023          90             270            0
  26  Mirror          2.118          1.277          2.749          0              0              0
  27  LightSwitch     0.726          1.200          2.75           0              180            0
  28  GarbageCan      2.257          -0.008         2.603          353.970        0              0
  29  Window          0.665          1.356          -1.911         90             0              0
  30  Drawer          2.119          0.576          -0.491         4.458          270            0
  31  Drawer          2.147          0.213          -0.491         4.458          270            0
  32  SideTable       2.226          0.013          -0.492         4.458          270            0
  33  Chair           0.170          0.011          -1.214         0              261.719        0
  34  Blinds          0.695          1.983          -1.867         0              0              0
  35  Drawer          -0.079         0.513          -0.394         0              90             0
  36  Drawer          -0.079         0.226          -0.394         0              90             0
  37  Desk            -0.391         0.001          -0.811         0              90             0
  38  Drawer          -0.079         0.762          -0.394         0              90             0
  39  NorthWall
  40  EastWall
  41  SouthWall
  42  WestWall

Plan:
STEP 1: walk to face bureau | STEP 2: pick up book from top of bureau | STEP 3: walk to face bed | STEP 4: put book on bed | STEP 5: walk to face desk | STEP 6: pick up book from desk | STEP 7: walk to face bed | STEP 8: put book on bed | END