Task: Take the book from the bed, put it in the cabinet

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           3.75           0.949          -1.0           0              0              0
   1  Vase            2.803          0.993          -1.949         0              270            0              41
   2  CD              2.393          0.885          -1.726         0              270            0              35
   3  CD              2.952          0.183          -1.835         0              270            0              40
   4  CellPhone       -0.776         0.585          0.529          0              0              0              56
   5  CellPhone       3.087          0.988          -2.037         0              270            0              41
   6  Pencil          -0.904         0.789          0.501          0              0              0              62
   7  Pencil          -0.970         0.789          -0.548         0              0              0              62
   8  CreditCard      3.455          0.723          1.262          0              180            0              66
   9  CreditCard      1.950          0.985          -1.774         0              270            0              41
  10  KeyChain        -0.740         0.381          -0.430         0              90             0              58
  11  Book            1.950          0.985          -2.125         0              270            0              41
  12  Book            2.235          0.988          -1.95          0              270            0              41
  13  Book            2.217          0.610          0.068          0              0              0              26
  14  KeyChain        -0.163         1.109          3.171          0              180            0              49
  15  CreditCard      -0.350         1.107          3.171          0              180            0              49
  16  Pen             3.300          0.729          1.307          0              180            0              66
  17  Pencil          -0.904         0.789          -0.128         0              0              0              62
  18  Laptop          1.888          0.607          0.549          0              0              0              26
  19  Vase            2.519          0.990          -1.774         0              270            0              41
  20  AlarmClock      -0.772         0.785          0.081          0              0              0              62
  21  Pillow          2.533          0.631          1.264          0              0              0              26
  22  Pillow          2.545          0.674          0.068          0              0              0              26
  23  CellPhone       -0.904         0.785          0.291          0              0              0              62
  24  CD              3.377          0.723          1.488          0              180            0              66
  25  Vase            1.515          0.184          -1.786         0              270            0              38
  26  Bed             2.217          0.050          0.585          0              0              0
  27  GarbageCan      -0.978         0.048          -1.172         0              0              0
  28  Painting        2.990          1.592          1.567          90             0              0
  29  Painting        1.524          1.592          1.567          90             0              0
  30  Mirror          -1.190         1.417          -0.223         0              270            0
  31  LightSwitch     0.709          1.332          1.636          0              180            0
  32  Window          -2.629         1.460          2.891          90             270            0
  33  Window          -2.629         1.460          4.084          90             270            0
  34  DeskLamp        3.589          0.717          1.408          0              0              0
  35  Drawer          2.490          0.949          -1.703         0              0              0
  36  Cabinet         2.226          0.547          -1.615         0              0              0
  37  Drawer          1.975          0.949          -1.703         0              0              0
  38  Cabinet         1.207          0.547          -1.615         0              0              0
  39  Drawer          1.457          0.949          -1.703         0              0              0
  40  Cabinet         3.260          0.547          -1.615         0              0              0
  41  Dresser         2.234          0.048          -1.950         0              0              0
  42  Drawer          3.011          0.949          -1.703         0              0              0
  43  Cabinet         2.241          0.547          -1.615         0              0              0
  44  Shelf           -0.163         1.461          3.219          0              180            0
  45  Drawer          -0.161         0.242          3.166          0              180            0
  46  ShelvingUnit    -0.161         0.050          3.212          0              180            0
  47  Drawer          -0.161         0.562          3.168          0              180            0
  48  Shelf           -0.162         0.922          3.164          0              180            0
  49  Shelf           -0.162         1.241          3.163          0              180            0
  50  Blinds          -2.550         2.486          2.911          0              90             0
  51  Blinds          -2.550         2.486          4.107          0              90             0
  52  Drawer          -0.833         0.217          -0.336         0              90             0
  53  Drawer          -0.833         0.217          0.486          0              90             0
  54  Drawer          -0.833         0.628          -0.747         0              90             0
  55  Drawer          -0.833         0.217          0.075          0              90             0
  56  Drawer          -0.833         0.628          0.486          0              90             0
  57  Drawer          -0.833         0.217          -0.747         0              90             0
  58  Drawer          -0.833         0.423          -0.336         0              90             0
  59  Drawer          -0.833         0.423          0.075          0              90             0
  60  Drawer          -0.833         0.423          0.486          0              90             0
  61  Drawer          -0.833         0.423          -0.747         0              90             0
  62  Dresser         -0.934         0.050          -0.129         0              90             0
  63  Drawer          -0.833         0.628          0.075          0              90             0
  64  Drawer          -0.833         0.628          -0.336         0              90             0
  65  Drawer          3.454          0.212          1.262          0              180            0
  66  SideTable       3.455          0.046          1.328          0              180            0
  67  Drawer          3.454          0.504          1.262          0              180            0
  68  NorthWall
  69  EastWall
  70  SouthWall
  71  WestWall

Plan:
STEP 1: Turn left, head to the foot of the bed | STEP 2: Take the book from the bed | STEP 3: Turn around, open the door to the cabinet | STEP 4: Put the book in the cabinet, close the door | END