Task: take a book from the table 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          0.0            0              180            0
   1  CD              1.717          0.680          -1.065         0              270            0              32
   2  Pen             -1.165         0.843          -1.645         0              0              0              37
   3  Pen             -0.244         0.843          -2.185         0              0              0              37
   4  Pencil          0.101          0.146          -2.234         0              90             0              27
   5  CreditCard      1.639          0.374          -0.873         0              90             0              30
   6  CreditCard      1.626          0.680          -1.065         0              270            0              32
   7  Book            0.584          0.646          0.059          0              0              0              24
   8  Laptop          -0.705         1.775          -2.161         0              0              0              37
   9  Book            0.300          0.646          -0.120         0              0              0              24
  10  Box             -0.424         2.065          -2.027         0              352.503        0              37
  11  Pillow          1.436          0.739          0.418          0              0              0              24
  12  AlarmClock      -1.165         0.837          -2.185         0              0              0              37
  13  BasketBall      -0.337         0.120          1.031          0              0              0              Floor|-00.16|
  14  BaseballBat     -1.602         0.022          0.356          90             8.736          0              Floor|-00.16|
  15  Pen             -0.935         1.783          -2.101         0              0              0              37
  16  CellPhone       1.717          0.682          -0.833         0              270            0              32
  17  TennisRacket    -1.667         0.0            0.818          90             29.999         0              Floor|-00.16|
  18  Laptop          1.436          0.643          -0.299         0              0              0              24
  19  Pencil          -0.935         0.841          -1.969         0              0              0              37
  20  KeyChain        -1.165         1.777          -2.101         0              0              0              37
  21  CreditCard      -1.165         1.777          -1.981         0              0              0              37
  22  CD              -0.474         0.837          -1.753         0              0              0              37
  23  Mirror          0.883          1.582          -2.399         0              180            0
  24  Bed             1.176          -0.002         0.238          0              90             0
  25  LightSwitch     1.899          1.297          -1.302         0              270            0
  26  Poster          -1.927         1.411          -1.455         90             90             0
  27  GarbageCan      0.128          -0.030         -2.146         0              90             0
  28  Window          -2.028         1.388          -0.270         90             270            0
  29  DeskLamp        -1.673         1.774          -2.190         0              0              0
  30  Drawer          1.624          0.453          -0.987         0              270            0
  31  Drawer          1.624          0.163          -0.987         0              270            0
  32  SideTable       1.691          0.002          -0.988         0              270            0
  33  Chair           -1.089         0.009          -1.570         0              166.824        0
  34  Blinds          -1.949         2.158          -0.252         0              90             0
  35  Cabinet         -0.241         1.534          -2.101         0              0              0
  36  Cabinet         -1.301         1.534          -2.101         0              0              0
  37  Desk            -0.962         0.003          -1.942         0              0              0
  38  Cabinet         -1.683         1.534          -2.101         0              0              0
  39  Cabinet         -0.623         1.534          -2.101         0              0              0
  40  Shelf           -0.962         1.534          -2.101         0              0              0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: go to the table  | STEP 2: pick up the book from the right | STEP 3: take the book to the desk | STEP 4: put the book on the desk | END