Task: Place a book on a desk.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.906          0.0            0              90             0
   1  Mug             -1.400         0.979          -1.524         0              0              0              38
   2  Statue          -1.400         0.988          -1.362         0              0              0              38
   3  CD              -1.001         1.536          -1.593         0              0              0              40
   4  CellPhone       -0.940         2.053          2.039          0              0              0              32
   5  Pen             -1.413         0.427          -1.345         0              0              0              39
   6  Pencil          -1.001         1.539          -1.475         0              0              0              40
   7  Book            -1.435         0.897          1.746          0              0              0              32
   8  Book            -0.875         2.053          1.160          0              0              0              32
   9  Book            -0.875         2.053          0.868          0              0              0              32
  10  Pillow          -1.026         0.952          1.746          0              0              0              32
  11  Book            -1.435         0.897          0.575          0              0              0              32
  12  Box             1.563          0.286          -1.069         0              347.500        0
  13  BasketBall      -1.657         0.126          -0.090         0              0              0
  14  Pen             -0.387         0.987          -1.281         0              0              0              38
  15  Pencil          -1.500         0.425          -1.390         0              0              0              39
  16  Laptop          -1.435         0.894          1.160          0              0              0              32
  17  Pillow          -1.026         0.952          1.160          0              0              0              32
  18  KeyChain        -0.430         1.536          -1.671         0              0              0              40
  19  Bowl            -1.183         1.528          -1.590         0              0              0              40
  20  CreditCard      -1.001         1.536          -1.710         0              0              0              40
  21  CellPhone       -0.940         2.053          1.453          0              0              0              32
  22  CD              -0.811         1.536          -1.671         0              0              0              40
  23  AlarmClock      -1.603         0.982          -1.443         0              0              0              38
  24  Mug             -1.382         1.534          -1.632         0              0              0              40
  25  Statue          -1.198         0.988          -1.443         0              0              0              38
  26  Mirror          1.907          1.387          0.973          0              90             0
  27  LaundryHamper   -0.351         0.007          2.368          0              164.999        0
  28  DeskLamp        -0.343         1.545          -1.564         0              0              0
  29  GarbageCan      -0.035         0.007          -1.530         0              270            0
  30  Window          1.009          1.514          -2.089         90             0              0
  31  LightSwitch     0.397          1.197          2.729          0              180            0
  32  Bed             -1.299         1.937          1.441          0              0              0
  33  Blinds          1.064          2.382          -2.094         0              0              0
  34  Chair           0.884          0.012          -1.433         0              29.871         0
  35  Chair           -0.646         0.007          -1.206         0              195.000        0
  36  Drawer          -1.409         0.233          -1.303         0              0              0
  37  Drawer          -1.407         0.847          -1.302         0              0              0
  38  Desk            -0.993         0.006          -1.410         0              0              0
  39  Drawer          -1.408         0.558          -1.302         0              0              0
  40  Shelf           0.003          0.013          0.035          0              0              0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: Turn around and walk to the foot of the bed. | STEP 2: Pick up the book on the bed. | STEP 3: Turn around and face the desk. | STEP 4: Place the book on the desk in front of the left trophy. | END