Task: Put a book on a desk.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.75           0.900          -1.5           0              0              0
   1  CD              -0.131         0.924          -1.459         0              0              0              38
   2  CD              -0.509         0.924          -1.245         0              0              0              38
   3  Pen             2.253          0.054          2.606          0              0              0              29
   4  Pen             -0.247         0.673          -0.192         0              0              0              39
   5  KeyChain        -0.402         0.089          -0.377         0              0              0              37
   6  Book            2.170          0.460          -0.679         0              90             0              31
   7  Book            2.143          0.844          -0.484         0              0              0              33
   8  Laptop          -0.414         0.923          -0.391         0              0              0              38
   9  Laptop          0.333          0.548          0.678          0              0              0              23
  10  Pillow          0.012          0.617          1.263          0              0              0              23
  11  Box             2.15           0.14           0.494          0              12.243         0
  12  Book            2.143          0.844          -0.090         0              0              0              31
  13  BasketBall      -0.235         0.120          0.166          0              0              0
  14  Pen             2.285          0.848          -0.221         0              0              0              33
  15  Pillow          0.172          0.617          1.848          0              0              0              23
  16  Pencil          2.310          0.053          2.551          0              0              0              29
  17  CellPhone       -0.309         0.552          1.263          0              0              0              23
  18  KeyChain        2.095          0.843          -0.615         0              270            0              33
  19  CreditCard      -0.140         0.088          -0.561         0              0              0              37
  20  AlarmClock      -0.509         0.925          -1.459         0              0              0              38
  21  CD              -0.297         0.375          -0.653         0              0              0              37
  22  Laptop          -0.428         0.919          -0.901         0              20.959         0              38
  23  Bed             0.009          -0.004         1.577          0              0              0
  24  DeskLamp        -0.669         0.923          -0.062         0              90             0
  25  Painting        -0.787         1.809          -0.215         90             270            0
  26  Painting        -0.787         1.809          1.023          90             270            0
  27  Mirror          2.118          1.277          2.749          0              0              0
  28  LightSwitch     0.726          1.200          2.75           0              180            0
  29  GarbageCan      2.257          -0.008         2.603          353.970        0              0
  30  Window          0.665          1.356          -1.911         90             0              0
  31  Drawer          2.119          0.576          -0.491         4.458          270            0
  32  Drawer          2.147          0.213          -0.491         4.458          270            0
  33  SideTable       2.226          0.013          -0.492         4.458          270            0
  34  Chair           0.170          0.011          -1.214         0              261.719        0
  35  Blinds          0.695          1.983          -1.867         0              0              0
  36  Drawer          -0.079         0.513          -0.394         0              90             0
  37  Drawer          -0.079         0.226          -0.394         0              90             0
  38  Desk            -0.391         0.001          -0.811         0              90             0
  39  Drawer          -0.079         0.762          -0.394         0              90             0
  40  NorthWall
  41  EastWall
  42  SouthWall
  43  WestWall

Plan:
STEP 1: Go forward and then turn to the right to face the box on the floor next to the green dresser. | STEP 2: Pick the book up from the left side of the dresser. | STEP 3: Turn around and cross the room to face the desk with a computer on it. | STEP 4: Put the book down on the desk. | END