Task: move book from bed to desk

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.900          -1.25          0              0              0
   1  CD              1.626          0.680          -1.142         0              270            0              36
   2  CD              1.626          0.680          -0.988         0              270            0              36
   3  Pen             -0.244         1.783          -2.281         0              0              0              41
   4  Pen             -0.244         0.843          -2.077         0              0              0              41
   5  Pencil          1.762          0.684          -0.755         0              270            0              36
   6  Pencil          1.762          0.684          -1.065         0              270            0              36
   7  CreditCard      -0.901         1.347          -2.123         0              0              0              44
   8  KeyChain        1.717          0.681          -0.910         0              270            0              36
   9  KeyChain        1.639          0.082          -0.930         0              90             0              45
  10  Book            0.300          0.646          -0.120         0              0              0              28
  11  Book            0.584          0.646          0.777          0              0              0              28
  12  Laptop          -0.935         1.775          -2.161         0              0              0              41
  13  Book            0.300          0.646          0.777          0              0              0              28
  14  Box             -0.424         2.065          -2.027         0              352.503        0              41
  15  Pillow          1.152          0.739          0.777          0              0              0              28
  16  AlarmClock      -1.626         0.837          -1.861         0              0              0              41
  17  BasketBall      -0.337         0.120          1.031          0              0              0              Floor|-00.16|
  18  BaseballBat     -1.602         0.022          0.356          90             8.736          0              Floor|-00.16|
  19  Pen             -0.935         0.843          -2.293         0              0              0              41
  20  CellPhone       1.152          0.647          0.239          0              0              0              28
  21  TennisRacket    -1.667         0.0            0.818          90             29.999         0              Floor|-00.16|
  22  Laptop          1.436          0.643          0.239          0              0              0              28
  23  Pencil          -1.165         0.841          -1.753         0              0              0              41
  24  KeyChain        1.615          0.374          -0.930         0              90             0              34
  25  CreditCard      -0.705         0.837          -1.861         0              0              0              41
  26  CD              0.154          0.145          -2.196         0              90             0              31
  27  Mirror          0.883          1.582          -2.399         0              180            0
  28  Bed             1.176          -0.002         0.238          0              90             0
  29  LightSwitch     1.899          1.297          -1.302         0              270            0
  30  Poster          -1.927         1.411          -1.455         90             90             0
  31  GarbageCan      0.128          -0.030         -2.146         0              90             0
  32  Window          -2.028         1.388          -0.270         90             270            0
  33  DeskLamp        -1.673         1.774          -2.190         0              0              0
  34  Drawer          1.624          0.453          -0.987         0              270            0
  35  Drawer          1.624          0.163          -0.987         0              270            0
  36  SideTable       1.691          0.002          -0.988         0              270            0
  37  Chair           -1.089         0.009          -1.570         0              166.824        0
  38  Blinds          -1.949         2.158          -0.252         0              90             0
  39  Cabinet         -0.241         1.534          -2.101         0              0              0
  40  Cabinet         -1.301         1.534          -2.101         0              0              0
  41  Desk            -0.962         0.003          -1.942         0              0              0
  42  Cabinet         -1.683         1.534          -2.101         0              0              0
  43  Cabinet         -0.623         1.534          -2.101         0              0              0
  44  Shelf           -0.962         1.534          -2.101         0              0              0
  45
  46  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: turn right, walk forward, turn left to face bed | STEP 2: pick up the book that is on the bed | STEP 3: turn around, walk to the wall, turn right to face desk | STEP 4: put the book on the desk | END