Task: put a book on to the bed

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.5            0.900          0.5            0              0              0
   1  Pen             1.517          0.313          -1.338         0              0              0              31
   2  Pen             1.686          0.754          -1.433         0              0              0              29
   3  KeyChain        0.084          0.647          -1.704         0              180            0              27
   4  KeyChain        0.203          0.377          -1.655         0              180            0              25
   5  AlarmClock      2.488          1.391          -1.624         0              0              0              36
   6  Book            2.058          0.740          -1.386         0              270            0              29
   7  Pencil          1.489          1.142          -1.579         0              0              0              37
   8  BasketBall      1.144          0.120          -1.656         0              23.931         0              Floor|-00.24|
   9  Laptop          -1.142         0.505          -0.872         0              0              0              18
  10  Pen             0.221          0.652          -1.664         0              0              0              27
  11  KeyChain        0.357          0.647          -1.744         0              0              0              27
  12  CreditCard      2.450          1.138          -1.579         0              0              0              36
  13  CellPhone       -0.308         0.508          -0.386         0              0              0              18
  14  CD              1.603          1.138          -1.614         0              0              0              37
  15  AlarmClock      2.343          0.748          -1.318         0              0              0              29
  16  Pillow          -0.642         0.588          -1.359         0              0              0              18
  17  Chair           2.161          0.008          -1.129         0              256.825        0
  18  Bed             -0.809         0.010          -0.891         0              180            0
  19  DeskLamp        0.047          0.668          -1.761         0              0              0
  20  GarbageCan      2.657          -0.021         1.275          0              0              0
  21  Mirror          2.821          1.764          -0.068         0              90             0
  22  Window          -1.677         1.402          0.365          90             270            0
  23  LightSwitch     -0.606         1.253          1.435          0              180            0
  24  Shelf           2.025          1.440          -1.730         0              0              0
  25  Drawer          0.187          0.455          -1.577         0              0              0
  26  Drawer          0.187          0.163          -1.577         0              0              0
  27  SideTable       0.186          -0.001         -1.643         0              0              0
  28  Dumbbell        1.576          0.083          -1.563         0              0              0
  29  Desk            2.017          0.000          -1.578         0              0              0
  30  GarbageBag      0.806          0.318          1.143          270            186.178        83.264
  31  Shelf           1.570          0.415          -1.563         0              0              0
  32  Shelf           1.612          0.945          -1.744         0              0              0
  33  Shelf           2.265          0.941          -1.722         0              0              0
  34  Shelf           1.572          0.630          -1.563         0              0              0
  35  Shelf           1.569          0.172          -1.563         0              0              0
  36  Shelf           2.267          1.248          -1.722         0              0              0
  37  Shelf           1.614          1.252          -1.745         0              0              0
  38  NorthWall
  39  EastWall
  40  SouthWall
  41  WestWall

Plan:
STEP 1: turn around and move to the right side of the desk | STEP 2: face the desk long ways, pick up the book from the desk | STEP 3: turn around and move forward to the bed | STEP 4: put the book on the edge of the bed to the left of the cell phone | END