Task: Bring the book on the bed to the nightstand

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.25           0.900          -1.5           0              180            0
   1  Pen             0.033          0.625          0.599          0              180            0              32
   2  Pen             -1.322         0.681          -2.419         0              0              0              33
   3  Pencil          0.188          0.623          0.755          0              180            0              32
   4  CreditCard      0.996          0.675          -2.598         0              0              0              34
   5  Book            0.430          0.555          -0.988         0              0              0              20
   6  Laptop          -0.483         0.554          -0.988         0              0              0              20
   7  Box             2.453          0.222          -0.041         0              0              0
   8  Book            -0.276         0.619          0.988          0              180            0              32
   9  KeyChain        -1.322         0.677          -2.553         0              0              0              33
  10  Pillow          0.192          0.607          -2.307         0              0              0              20
  11  BaseballBat     0.419          0.666          1.044          10.360         0              0
  12  Pencil          -0.276         0.625          0.599          0              180            0              32
  13  CellPhone       0.430          0.557          -1.880         0              0              0              20
  14  CreditCard      -1.263         0.679          -2.374         0              0              0              33
  15  Pen             -1.204         0.681          -2.329         0              0              0              33
  16  Laptop          -0.661         0.613          0.778          0              165.000        0              32
  17  AlarmClock      -0.121         0.621          0.755          0              180            0              32
  18  CD              -0.121         0.618          0.910          0              180            0              32
  19  Mug             0.188          0.618          0.677          0              180            0              32
  20  Bed             -0.118         -0.001         -1.699         0              180            0
  21  Mirror          2.644          1.347          0.384          0              90             0
  22  GarbageCan      2.467          -0.029         0.936          0              271.107        0
  23  LightSwitch     0.333          1.256          1.149          0              180            0
  24  DeskLamp        0.915          0.670          -2.435         0              0              0
  25  Painting        0.003          1.562          -2.687         90             180            0
  26  Window          -1.559         1.414          -1.356         90             270            0
  27  Window          -1.559         1.414          -0.057         90             270            0
  28  Shelf           -0.276         0.351          0.832          0              0              0
  29  Shelf           -0.276         0.099          0.832          0              0              0
  30  Blinds          -1.462         2.157          -1.343         0              90             0
  31  Blinds          -1.462         2.157          -0.046         0              90             0
  32  Desk            -0.276         -0.001         0.833          0              0              0
  33  SideTable       -1.204         0.002          -2.456         0              0              0
  34  SideTable       0.948          0.002          -2.456         0              0              0
  35  Drawer          0.948          0.166          -2.389         0              0              0
  36  Drawer          -1.204         0.166          -2.389         0              0              0
  37  Drawer          0.948          0.458          -2.389         0              0              0
  38  Drawer          -1.204         0.458          -2.389         0              0              0
  39
  40  NorthWall
  41  EastWall
  42  SouthWall
  43  WestWall

Plan:
STEP 1: Turn around, go forward a bit, turn left, go to the bed, turn right at the beginning of the bed | STEP 2: Pick up the book on the bed | STEP 3: Turn left, go to the wall, turn right, go to the wall, turn right | STEP 4: Put the book on the nightstand | END