Task: Place a book on a bed.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.900          1.0            0              0              0
   1  CD              0.203          0.376          -1.634         0              180            0              27
   2  Pen             2.061          0.783          -1.579         0              0              0              31
   3  Pencil          2.353          0.781          -1.614         0              0              0              35
   4  Pencil          0.289          0.650          -1.585         0              0              0              29
   5  KeyChain        1.659          0.778          -1.614         0              0              0              31
   6  KeyChain        1.534          1.392          -1.661         0              90             0              39
   7  AlarmClock      1.517          0.307          -1.338         0              0              0              33
   8  Book            2.058          0.740          -1.386         0              270            0              31
   9  Pencil          0.153          0.650          -1.664         0              0              0              29
  10  BasketBall      1.144          0.120          -1.656         0              23.931         0              Floor|-00.24|
  11  Laptop          -1.142         0.505          -1.115         0              0              0              20
  12  Pen             2.343          0.754          -1.433         0              0              0              31
  13  KeyChain        1.686          0.749          -1.318         0              0              0              31
  14  CreditCard      0.084          0.647          -1.585         0              0              0              29
  15  CellPhone       2.343          0.749          -1.357         0              0              0              31
  16  CD              2.661          0.045          1.248          0              0              0              22
  17  AlarmClock      1.522          0.748          -1.318         0              0              0              31
  18  Pillow          -0.975         0.588          -0.629         0              0              0              20
  19  Chair           2.161          0.008          -1.129         0              256.825        0
  20  Bed             -0.809         0.010          -0.891         0              180            0
  21  DeskLamp        0.047          0.668          -1.761         0              0              0
  22  GarbageCan      2.657          -0.021         1.275          0              0              0
  23  Mirror          2.821          1.764          -0.068         0              90             0
  24  Window          -1.677         1.402          0.365          90             270            0
  25  LightSwitch     -0.606         1.253          1.435          0              180            0
  26  Shelf           2.025          1.440          -1.730         0              0              0
  27  Drawer          0.187          0.455          -1.577         0              0              0
  28  Drawer          0.187          0.163          -1.577         0              0              0
  29  SideTable       0.186          -0.001         -1.643         0              0              0
  30  Dumbbell        1.576          0.083          -1.563         0              0              0
  31  Desk            2.017          0.000          -1.578         0              0              0
  32  GarbageBag      0.806          0.318          1.143          270            186.178        83.264
  33  Shelf           1.570          0.415          -1.563         0              0              0
  34  Shelf           1.612          0.945          -1.744         0              0              0
  35  Shelf           2.265          0.941          -1.722         0              0              0
  36  Shelf           1.572          0.630          -1.563         0              0              0
  37  Shelf           1.569          0.172          -1.563         0              0              0
  38  Shelf           2.267          1.248          -1.722         0              0              0
  39  Shelf           1.614          1.252          -1.745         0              0              0
  40  NorthWall
  41  EastWall
  42  SouthWall
  43  WestWall

Plan:
STEP 1: Turn around and veer left to the desk. | STEP 2: Pick up the blue book on the desk. | STEP 3: Turn around and walk to the bed. | STEP 4: Place the book on the bed near the middle, close to the closest edge. | END