Task: Put a book on 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           0.25           0.900          0.5            0              90             0
   1  Pen             0.153          0.652          -1.625         0              0              0              27
   2  Pen             1.517          0.556          -1.381         0              0              0              34
   3  Pencil          2.661          0.049          1.276          0              0              0              20
   4  Pencil          2.488          1.395          -1.624         0              0              0              36
   5  Pillow          -0.975         0.588          -0.872         0              0              0              18
   6  Book            2.058          0.740          -1.386         0              270            0              29
   7  Pencil          2.061          0.781          -1.719         0              0              0              33
   8  BasketBall      1.144          0.120          -1.656         0              23.931         0              Floor|-00.24|
   9  Laptop          -0.794         0.495          -0.303         0              61.899         0              18
  10  Pen             1.608          0.071          -1.381         0              0              0              35
  11  KeyChain        0.152          0.120          -1.697         0              90             0              26
  12  CreditCard      0.253          0.120          -1.655         0              180            0              26
  13  CellPhone       1.497          0.766          -1.672         0              14.920         0              32
  14  CD              2.170          1.391          -1.661         0              0              0              36
  15  AlarmClock      0.221          0.646          -1.744         0              0              0              27
  16  Pillow          -1.154         0.54           -1.607         0              13.257         0              18
  17  Chair           2.161          0.008          -1.129         0              256.825        0
  18  Bed             -0.809         0.010          -0.891         0              180            0
  19  DeskLamp        0.047          0.668          -1.761         0              0              0
  20  GarbageCan      2.657          -0.021         1.275          0              0              0
  21  Mirror          2.821          1.764          -0.068         0              90             0
  22  Window          -1.677         1.402          0.365          90             270            0
  23  LightSwitch     -0.606         1.253          1.435          0              180            0
  24  Shelf           2.025          1.440          -1.730         0              0              0
  25  Drawer          0.187          0.455          -1.577         0              0              0
  26  Drawer          0.187          0.163          -1.577         0              0              0
  27  SideTable       0.186          -0.001         -1.643         0              0              0
  28  Dumbbell        1.576          0.083          -1.563         0              0              0
  29  Desk            2.017          0.000          -1.578         0              0              0
  30  GarbageBag      0.806          0.318          1.143          270            186.178        83.264
  31  Shelf           1.570          0.415          -1.563         0              0              0
  32  Shelf           1.612          0.945          -1.744         0              0              0
  33  Shelf           2.265          0.941          -1.722         0              0              0
  34  Shelf           1.572          0.630          -1.563         0              0              0
  35  Shelf           1.569          0.172          -1.563         0              0              0
  36  Shelf           2.267          1.248          -1.722         0              0              0
  37  Shelf           1.614          1.252          -1.745         0              0              0
  38  NorthWall
  39  EastWall
  40  SouthWall
  41  WestWall

Plan:
STEP 1: Turn to your right and go to the night stand, then turn to your left and go to the side of the desk closest to you.  | STEP 2: Pick up the book, in front of the chair, on the desk.  | STEP 3: Turn around and go to the bed, behind you.  | STEP 4: Place the book on the bed, in front of the computer.  | END