Task: Put the book from the bed in the upper left cabinet over 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          -2.0           0              0              0
   1  CD              -0.474         1.777          -2.341         0              0              0              39
   2  CD              0.127          0.143          -2.080         0              90             0              29
   3  CellPhone       2.004          0.647          0.239          0              0              0              26
   4  Pen             -0.967         1.353          -2.074         0              0              0              42
   5  Pen             -0.967         1.353          -2.222         0              0              0              42
   6  Pencil          -0.705         0.841          -2.185         0              0              0              39
   7  CreditCard      -0.901         1.347          -2.025         0              0              0              42
   8  KeyChain        1.626          0.681          -1.142         0              90             0              34
   9  KeyChain        -1.626         1.777          -2.041         0              0              0              39
  10  AlarmClock      -0.935         1.777          -2.281         0              0              0              39
  11  Book            0.868          0.646          0.598          0              0              0              26
  12  Box             -0.424         2.065          -2.027         0              352.503        0              39
  13  Pillow          1.152          0.739          0.418          0              0              0              26
  14  AlarmClock      -1.165         1.777          -2.041         0              0              0              39
  15  BasketBall      -0.337         0.120          1.031          0              0              0              Floor|-00.16|
  16  BaseballBat     -1.602         0.022          0.356          90             8.736          0              Floor|-00.16|
  17  Pen             1.762          0.686          -1.065         0              270            0              34
  18  CellPhone       2.004          0.647          0.598          0              0              0              26
  19  TennisRacket    -1.667         0.0            0.818          90             29.999         0              Floor|-00.16|
  20  Laptop          0.584          0.643          0.059          0              0              0              26
  21  Pencil          1.626          0.684          -0.833         0              270            0              34
  22  KeyChain        1.592          0.082          -1.159         0              180            0              33
  23  CreditCard      1.626          0.680          -0.988         0              270            0              34
  24  CD              -1.273         1.346          -2.134         0              0              0              40
  25  Mirror          0.883          1.582          -2.399         0              180            0
  26  Bed             1.176          -0.002         0.238          0              90             0
  27  LightSwitch     1.899          1.297          -1.302         0              270            0
  28  Poster          -1.927         1.411          -1.455         90             90             0
  29  GarbageCan      0.128          -0.030         -2.146         0              90             0
  30  Window          -2.028         1.388          -0.270         90             270            0
  31  DeskLamp        -1.673         1.774          -2.190         0              0              0
  32  Drawer          1.624          0.453          -0.987         0              270            0
  33  Drawer          1.624          0.163          -0.987         0              270            0
  34  SideTable       1.691          0.002          -0.988         0              270            0
  35  Chair           -1.089         0.009          -1.570         0              166.824        0
  36  Blinds          -1.949         2.158          -0.252         0              90             0
  37  Cabinet         -0.241         1.534          -2.101         0              0              0
  38  Cabinet         -1.301         1.534          -2.101         0              0              0
  39  Desk            -0.962         0.003          -1.942         0              0              0
  40  Cabinet         -1.683         1.534          -2.101         0              0              0
  41  Cabinet         -0.623         1.534          -2.101         0              0              0
  42  Shelf           -0.962         1.534          -2.101         0              0              0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: Walk forward and stand at the bed. | STEP 2: Pick up the book from the bed. | STEP 3: Turn around and go to the desk. | STEP 4: Put the book in the upper left cabinet over the desk. | END