Task: Put the book in the desk cabinet

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.900          -0.25          0              180            0
   1  CellPhone       1.615          0.376          -0.988         0              90             0              35
   2  Pen             1.536          0.686          -0.988         0              270            0              37
   3  Pen             -0.244         0.843          -1.969         0              0              0              42
   4  Pencil          -0.244         1.780          -1.981         0              0              0              42
   5  Pencil          -0.474         0.841          -2.077         0              0              0              42
   6  CreditCard      -0.868         1.347          -2.222         0              0              0              45
   7  CreditCard      1.568          0.374          -0.816         0              90             0              35
   8  KeyChain        -1.626         0.838          -1.969         0              0              0              42
   9  Book            1.152          0.646          0.598          0              0              0              29
  10  Book            1.671          0.682          -0.833         0              270            0              37
  11  Book            0.868          0.646          0.238          0              0              0              29
  12  AlarmClock      -0.935         1.777          -2.281         0              0              0              42
  13  AlarmClock      -0.935         0.837          -1.645         0              0              0              42
  14  Book            1.436          0.646          -0.120         0              0              0              29
  15  Box             -0.424         2.065          -2.027         0              352.503        0              42
  16  Pillow          0.868          0.739          -0.120         0              0              0              29
  17  AlarmClock      -0.705         1.777          -2.281         0              0              0              42
  18  BasketBall      -0.337         0.120          1.031          0              0              0              Floor|-00.16|
  19  BaseballBat     -1.602         0.022          0.356          90             8.736          0              Floor|-00.16|
  20  Pen             1.717          0.686          -1.065         0              270            0              37
  21  CellPhone       0.300          0.647          0.418          0              0              0              29
  22  TennisRacket    -1.667         0.0            0.818          90             29.999         0              Floor|-00.16|
  23  Laptop          0.300          0.643          -0.120         0              0              0              29
  24  Pencil          -0.901         1.350          -2.025         0              0              0              45
  25  KeyChain        -0.474         0.838          -1.753         0              90             0              42
  26  CreditCard      -0.935         0.837          -2.077         0              0              0              42
  27  CD              1.626          0.680          -1.065         0              270            0              37
  28  Mirror          0.883          1.582          -2.399         0              180            0
  29  Bed             1.176          -0.002         0.238          0              90             0
  30  LightSwitch     1.899          1.297          -1.302         0              270            0
  31  Poster          -1.927         1.411          -1.455         90             90             0
  32  GarbageCan      0.128          -0.030         -2.146         0              90             0
  33  Window          -2.028         1.388          -0.270         90             270            0
  34  DeskLamp        -1.673         1.774          -2.190         0              0              0
  35  Drawer          1.624          0.453          -0.987         0              270            0
  36  Drawer          1.624          0.163          -0.987         0              270            0
  37  SideTable       1.691          0.002          -0.988         0              270            0
  38  Chair           -1.089         0.009          -1.570         0              166.824        0
  39  Blinds          -1.949         2.158          -0.252         0              90             0
  40  Cabinet         -0.241         1.534          -2.101         0              0              0
  41  Cabinet         -1.301         1.534          -2.101         0              0              0
  42  Desk            -0.962         0.003          -1.942         0              0              0
  43  Cabinet         -1.683         1.534          -2.101         0              0              0
  44  Cabinet         -0.623         1.534          -2.101         0              0              0
  45  Shelf           -0.962         1.534          -2.101         0              0              0
  46  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: Turn left and walk over to the side of the bed, turning left again to face it | STEP 2: Pick up the book nearest the far wall from the bed | STEP 3: Turn around and walk up to the wooden desk | STEP 4: Open the top left cabinet of the wooden desk and put the book inside | END