Task: Pick up the brown book and put it in the black cabinet.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.0            0.949          -0.25          0              90             0
   1  CellPhone       -0.772         0.785          0.291          0              0              0              54
   2  KeyChain        3.455          0.725          1.488          0              180            0              58
   3  Book            2.710          0.610          0.068          0              0              0              18
   4  AlarmClock      1.950          0.986          -2.037         0              270            0              33
   5  Book            2.519          0.985          -2.125         0              270            0              33
   6  KeyChain        -0.812         0.586          0.529          0              0              0              48
   7  CreditCard      1.382          0.985          -2.212         0              270            0              33
   8  Pen             3.087          0.990          -1.949         0              270            0              33
   9  Pencil          -0.812         0.589          0.119          0              0              0              55
  10  Laptop          1.447          0.981          -1.894         0              328.961        0              33
  11  Vase            3.300          0.728          1.352          0              180            0              58
  12  AlarmClock      -0.772         0.786          -0.128         0              0              0              54
  13  Pillow          1.888          0.674          -0.172         0              0              0              18
  14  Pillow          2.545          0.674          0.549          0              0              0              18
  15  CellPhone       1.666          0.985          -1.687         0              270            0              33
  16  CD              -0.990         0.091          -1.147         0              0              0              19
  17  Vase            2.234          0.989          -1.862         0              270            0              33
  18  Bed             2.217          0.050          0.585          0              0              0
  19  GarbageCan      -0.978         0.048          -1.172         0              0              0
  20  Painting        2.990          1.592          1.567          90             0              0
  21  Painting        1.524          1.592          1.567          90             0              0
  22  Mirror          -1.190         1.417          -0.223         0              270            0
  23  LightSwitch     0.709          1.332          1.636          0              180            0
  24  Window          -2.629         1.460          2.891          90             270            0
  25  Window          -2.629         1.460          4.084          90             270            0
  26  DeskLamp        3.589          0.717          1.408          0              0              0
  27  Drawer          2.490          0.949          -1.703         0              0              0
  28  Cabinet         2.226          0.547          -1.615         0              0              0
  29  Drawer          1.975          0.949          -1.703         0              0              0
  30  Cabinet         1.207          0.547          -1.615         0              0              0
  31  Drawer          1.457          0.949          -1.703         0              0              0
  32  Cabinet         3.260          0.547          -1.615         0              0              0
  33  Dresser         2.234          0.048          -1.950         0              0              0
  34  Drawer          3.011          0.949          -1.703         0              0              0
  35  Cabinet         2.241          0.547          -1.615         0              0              0
  36  Shelf           -0.163         1.461          3.219          0              180            0
  37  Drawer          -0.161         0.242          3.166          0              180            0
  38  ShelvingUnit    -0.161         0.050          3.212          0              180            0
  39  Drawer          -0.161         0.562          3.168          0              180            0
  40  Shelf           -0.162         0.922          3.164          0              180            0
  41  Shelf           -0.162         1.241          3.163          0              180            0
  42  Blinds          -2.550         2.486          2.911          0              90             0
  43  Blinds          -2.550         2.486          4.107          0              90             0
  44  Drawer          -0.833         0.217          -0.336         0              90             0
  45  Drawer          -0.833         0.217          0.486          0              90             0
  46  Drawer          -0.833         0.628          -0.747         0              90             0
  47  Drawer          -0.833         0.217          0.075          0              90             0
  48  Drawer          -0.833         0.628          0.486          0              90             0
  49  Drawer          -0.833         0.217          -0.747         0              90             0
  50  Drawer          -0.833         0.423          -0.336         0              90             0
  51  Drawer          -0.833         0.423          0.075          0              90             0
  52  Drawer          -0.833         0.423          0.486          0              90             0
  53  Drawer          -0.833         0.423          -0.747         0              90             0
  54  Dresser         -0.934         0.050          -0.129         0              90             0
  55  Drawer          -0.833         0.628          0.075          0              90             0
  56  Drawer          -0.833         0.628          -0.336         0              90             0
  57  Drawer          3.454          0.212          1.262          0              180            0
  58  SideTable       3.455          0.046          1.328          0              180            0
  59  Drawer          3.454          0.504          1.262          0              180            0
  60  NorthWall
  61  EastWall
  62  SouthWall
  63  WestWall

Plan:
STEP 1: Circle around the white bed to the left and stop between the bed and the wall. | STEP 2: Pick up the brown book on the white bed. | STEP 3: Turn around and walk to the black cabinets. | STEP 4: Open the first cabinet door and place the book inside the cabinet closing the door behind it. | END