Task: Put a book in the cabinet.

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          -0.75          0              90             0
   1  Pen             1.671          0.686          -0.987         0              270            0              30
   2  CreditCard      -0.967         1.347          -2.074         0              0              0              38
   3  Book            1.152          0.646          -0.120         0              0              0              22
   4  Book            -1.626         0.839          -2.077         0              90             0              35
   5  Laptop          -0.244         0.835          -2.185         0              0              0              35
   6  Pillow          1.720          0.739          0.598          0              0              0              22
   7  Book            -0.56          0.828          -2.14          0              14.999         0              35
   8  Box             -0.424         2.065          -2.027         0              352.503        0              35
   9  Pillow          1.152          0.739          0.239          0              0              0              22
  10  AlarmClock      -1.396         1.777          -2.041         0              0              0              35
  11  BasketBall      -0.337         0.120          1.031          0              0              0              Floor|-00.16|
  12  BaseballBat     -1.602         0.022          0.356          90             8.736          0              Floor|-00.16|
  13  Pen             -0.935         1.783          -2.161         0              0              0              35
  14  CellPhone       -0.967         1.349          -2.172         0              0              0              38
  15  TennisRacket    -1.667         0.0            0.818          90             29.999         0              Floor|-00.16|
  16  Laptop          -0.935         0.835          -1.969         0              0              0              35
  17  Pencil          -1.165         0.841          -2.185         0              0              0              35
  18  KeyChain        -1.626         0.838          -1.645         0              0              0              35
  19  CreditCard      1.671          0.680          -1.065         0              270            0              30
  20  CD              -1.612         1.345          -2.184         0              0              0              34
  21  Mirror          0.883          1.582          -2.399         0              180            0
  22  Bed             1.176          -0.002         0.238          0              90             0
  23  LightSwitch     1.899          1.297          -1.302         0              270            0
  24  Poster          -1.927         1.411          -1.455         90             90             0
  25  GarbageCan      0.128          -0.030         -2.146         0              90             0
  26  Window          -2.028         1.388          -0.270         90             270            0
  27  DeskLamp        -1.673         1.774          -2.190         0              0              0
  28  Drawer          1.624          0.453          -0.987         0              270            0
  29  Drawer          1.624          0.163          -0.987         0              270            0
  30  SideTable       1.691          0.002          -0.988         0              270            0
  31  Chair           -1.089         0.009          -1.570         0              166.824        0
  32  Blinds          -1.949         2.158          -0.252         0              90             0
  33  Cabinet         -0.241         1.534          -2.101         0              0              0
  34  Cabinet         -1.301         1.534          -2.101         0              0              0
  35  Desk            -0.962         0.003          -1.942         0              0              0
  36  Cabinet         -1.683         1.534          -2.101         0              0              0
  37  Cabinet         -0.623         1.534          -2.101         0              0              0
  38  Shelf           -0.962         1.534          -2.101         0              0              0
  39  NorthWall
  40  EastWall
  41  SouthWall
  42  WestWall

Plan:
STEP 1: Move to the desk on your left. | STEP 2: Pick up the book on the desk.  | STEP 3: Bring the book up to the cabinet above the desk. | STEP 4: Open the middle cabinet, put the book in the cabinet.  | END