Task: take the book from the bed, put it on 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           -0.25          0.906          1.25           0              90             0
   1  Bowl            -1.603         0.982          -1.443         0              0              0              40
   2  Bowl            -0.995         0.982          -1.281         0              0              0              40
   3  Mug             -0.792         0.979          -1.362         0              0              0              40
   4  Mug             -1.400         0.980          -1.281         0              0              0              40
   5  Statue          -1.400         0.989          -1.606         0              0              0              40
   6  CD              -0.811         1.536          -1.632         0              0              0              42
   7  CellPhone       -0.387         0.982          -1.281         0              0              0              40
   8  Pen             -0.387         0.988          -1.524         0              0              0              40
   9  Pen             -0.590         0.988          -1.200         0              0              0              40
  10  Pencil          -0.430         1.539          -1.671         0              0              0              42
  11  CreditCard      -1.238         0.098          -1.480         0              0              0              38
  12  Laptop          -1.435         0.894          1.160          0              0              0              34
  13  Book            -1.571         0.897          1.746          0              0              0              34
  14  Box             1.563          0.286          -1.069         0              347.500        0
  15  BasketBall      -1.657         0.126          -0.090         0              0              0
  16  Pen             -0.792         0.988          -1.443         0              0              0              40
  17  Pencil          -1.198         0.984          -1.200         0              0              0              40
  18  Laptop          -1.026         0.894          1.746          0              0              0              34
  19  Pillow          -1.163         0.952          2.332          0              0              0              34
  20  KeyChain        -1.382         1.536          -1.593         0              90             0              42
  21  Bowl            -1.183         1.528          -1.590         0              0              0              42
  22  CreditCard      -1.198         0.981          -1.687         0              0              0              40
  23  CellPhone       -1.326         0.099          -1.390         0              0              0              38
  24  CD              -1.001         1.536          -1.553         0              0              0              42
  25  AlarmClock      -1.400         0.982          -1.443         0              0              0              40
  26  Mug             -0.590         0.979          -1.606         0              0              0              40
  27  Statue          -1.503         1.528          -1.590         0              0              0              42
  28  Mirror          1.907          1.387          0.973          0              90             0
  29  LaundryHamper   -0.351         0.007          2.368          0              164.999        0
  30  DeskLamp        -0.343         1.545          -1.564         0              0              0
  31  GarbageCan      -0.035         0.007          -1.530         0              270            0
  32  Window          1.009          1.514          -2.089         90             0              0
  33  LightSwitch     0.397          1.197          2.729          0              180            0
  34  Bed             -1.299         1.937          1.441          0              0              0
  35  Blinds          1.064          2.382          -2.094         0              0              0
  36  Chair           0.884          0.012          -1.433         0              29.871         0
  37  Chair           -0.646         0.007          -1.206         0              195.000        0
  38  Drawer          -1.409         0.233          -1.303         0              0              0
  39  Drawer          -1.407         0.847          -1.302         0              0              0
  40  Desk            -0.993         0.006          -1.410         0              0              0
  41  Drawer          -1.408         0.558          -1.302         0              0              0
  42  Shelf           0.003          0.013          0.035          0              0              0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: turn around, face the bed | STEP 2: take the book from the bed | STEP 3: turn left, head across the room to the desk | STEP 4: put the book on the desk | END