Task: move a book from the bed to the desk

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.900          -0.75          0              90             0
   1  CellPhone       0.333          0.552          0.971          0              0              0              17
   2  CellPhone       0.333          0.552          2.433          0              0              0              17
   3  CreditCard      -0.349         0.088          -0.377         0              0              0              31
   4  CreditCard      2.220          0.461          -0.777         0              0              0              25
   5  Box             2.15           0.14           0.494          0              12.243         0
   6  Book            0.012          0.551          1.848          0              0              0              17
   7  BasketBall      -0.235         0.120          0.166          0              0              0
   8  Pen             -0.404         0.673          -0.376         0              0              0              33
   9  Pillow          0.012          0.617          0.971          0              0              0              17
  10  Pencil          -0.131         0.928          -1.459         0              0              0              32
  11  CellPhone       2.095          0.844          -0.221         0              0              0              27
  12  KeyChain        2.285          0.843          -0.877         0              0              0              27
  13  CreditCard      2.333          0.842          -0.877         0              0              0              27
  14  AlarmClock      -0.320         0.925          -1.245         0              0              0              32
  15  CD              -0.320         0.924          -0.177         0              0              0              32
  16  Laptop          -0.428         0.919          -0.901         0              20.959         0              32
  17  Bed             0.009          -0.004         1.577          0              0              0
  18  DeskLamp        -0.669         0.923          -0.062         0              90             0
  19  Painting        -0.787         1.809          -0.215         90             270            0
  20  Painting        -0.787         1.809          1.023          90             270            0
  21  Mirror          2.118          1.277          2.749          0              0              0
  22  LightSwitch     0.726          1.200          2.75           0              180            0
  23  GarbageCan      2.257          -0.008         2.603          353.970        0              0
  24  Window          0.665          1.356          -1.911         90             0              0
  25  Drawer          2.119          0.576          -0.491         4.458          270            0
  26  Drawer          2.147          0.213          -0.491         4.458          270            0
  27  SideTable       2.226          0.013          -0.492         4.458          270            0
  28  Chair           0.170          0.011          -1.214         0              261.719        0
  29  Blinds          0.695          1.983          -1.867         0              0              0
  30  Drawer          -0.079         0.513          -0.394         0              90             0
  31  Drawer          -0.079         0.226          -0.394         0              90             0
  32  Desk            -0.391         0.001          -0.811         0              90             0
  33  Drawer          -0.079         0.762          -0.394         0              90             0
  34  NorthWall
  35  EastWall
  36  SouthWall
  37  WestWall

Plan:
STEP 1: take a step forward, turn left, walk forward, turn left to face bed | STEP 2: pick up the book that is on the bed | STEP 3: turn left, walk across room, turn right to face desk | STEP 4: put the book on the desk | END