I think it is bad policy in the long run to nickel and dime folks for such trivial matters at higher-end hotels that are supposed to be known for service.
That being said, I suppose it is up to the individual hotel's discretion at this point. I would make a point to bring it up at checkout, see how they react, and then decide if that hotel's managment deserves your business again.
Agreed that in the larger scheme, not a big deal. But getting charged $10 extra to receive a book you ordered seems wrong.