Task: Take a book from the desk 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           0.75           0.900          -1.0           0              270            0
   1  CellPhone       0.784          0.943          -1.91          0              0              0              28
   2  Pen             1.315          0.947          -1.854         0              0              0              28
   3  Pen             -1.106         0.656          -1.381         0              0              0              25
   4  Pencil          -0.426         0.899          -1.495         0              0              0              22
   5  Pencil          0.430          0.945          -1.854         0              0              0              28
   6  CreditCard      2.205          0.524          1.191          0              180            0              34
   7  CreditCard      -1.181         0.093          -1.279         0              0              0              23
   8  Book            -0.774         0.896          -1.680         0              0              0              22
   9  Pillow          3.152          0.840          -1.354         0              180            0              39
  10  AlarmClock      0.961          0.943          -1.91          0              0              0              28
  11  Book            -0.948         0.896          -1.403         0              0              0              22
  12  Pen             -0.078         0.901          -1.403         0              0              0              22
  13  AlarmClock      -0.078         0.897          -1.217         0              0              0              22
  14  TeddyBear       1.324          0.827          -0.763         56.834         332.692        298.236        39
  15  CellPhone       -0.600         0.897          -1.310         0              0              0              22
  16  Pencil          -0.426         0.899          -1.773         0              0              0              22
  17  Pillow          3.173          0.804          -0.932         0              0              0              39
  18  Laptop          2.329          0.774          -1.056         0              180            0              32
  19  KeyChain        1.138          0.941          -1.882         0              0              0              28
  20  CreditCard      0.607          0.941          -1.882         0              0              0              28
  21  CD              2.514          0.524          1.191          0              180            0              34
  22  Desk            -0.503         0.006          -1.465         0              0              0
  23  Drawer          -0.945         0.493          -1.176         0              0              0
  24  Drawer          -0.946         0.212          -1.176         0              0              0
  25  Drawer          -0.944         0.739          -1.176         0              0              0
  26  DeskLamp        -0.124         0.899          -1.731         0              0              0
  27  LightSwitch     3.513          1.253          0.165          0              270            0
  28  Shelf           0.759          0.934          -1.909         0              0              0
  29  Mirror          2.407          1.294          1.401          0              0              0
  30  GarbageCan      3.347          -0.000         -0.027         0              270            0
  31  Window          0.717          1.603          -2.108         90             0              0
  32  Bed             2.301          0.005          -1.056         0              270            0
  33  Blinds          0.749          2.523          -2.022         0              0              0
  34  SideTable       2.436          0.002          1.143          0              180            0
  35  Drawer          2.437          0.122          1.154          0              180            0
  36  Drawer          2.437          0.350          1.153          0              180            0
  37  LaundryHamper   0.359          0.006          -1.505         0              280.399        358.305
  38  Chair           -0.308         0.009          -1.108         0              166.824        0
  39
  40  NorthWall
  41  EastWall
  42  SouthWall
  43  WestWall

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