Task: Transferring a book from a desk to a bed.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.0            0.900          -0.25          0              270            0
   1  CellPhone       2.878          0.778          -0.757         0              180            0              33
   2  Pen             2.282          0.528          1.110          0              180            0              28
   3  AlarmClock      -0.426         0.897          -1.217         0              0              0              16
   4  Laptop          1.780          0.774          -1.056         0              180            0              26
   5  Book            -1.122         0.901          -1.495         0              0              0              16
   6  Pen             0.961          0.947          -1.882         0              0              0              22
   7  AlarmClock      -0.948         0.897          -1.310         0              0              0              16
   8  TeddyBear       1.324          0.827          -0.763         56.834         332.692        298.236        33
   9  CellPhone       -0.774         0.897          -1.773         0              0              0              16
  10  Pencil          0.784          0.945          -1.854         0              0              0              22
  11  Pillow          3.173          0.804          -0.932         0              0              0              33
  12  Laptop          2.329          0.774          -1.056         0              180            0              26
  13  KeyChain        -0.426         0.900          -1.403         0              0              0              16
  14  CreditCard      -0.252         0.895          -1.495         0              0              0              16
  15  CD              2.514          0.524          1.231          0              180            0              28
  16  Desk            -0.503         0.006          -1.465         0              0              0
  17  Drawer          -0.945         0.493          -1.176         0              0              0
  18  Drawer          -0.946         0.212          -1.176         0              0              0
  19  Drawer          -0.944         0.739          -1.176         0              0              0
  20  DeskLamp        -0.124         0.899          -1.731         0              0              0
  21  LightSwitch     3.513          1.253          0.165          0              270            0
  22  Shelf           0.759          0.934          -1.909         0              0              0
  23  Mirror          2.407          1.294          1.401          0              0              0
  24  GarbageCan      3.347          -0.000         -0.027         0              270            0
  25  Window          0.717          1.603          -2.108         90             0              0
  26  Bed             2.301          0.005          -1.056         0              270            0
  27  Blinds          0.749          2.523          -2.022         0              0              0
  28  SideTable       2.436          0.002          1.143          0              180            0
  29  Drawer          2.437          0.122          1.154          0              180            0
  30  Drawer          2.437          0.350          1.153          0              180            0
  31  LaundryHamper   0.359          0.006          -1.505         0              280.399        358.305
  32  Chair           -0.308         0.009          -1.108         0              166.824        0
  33
  34  NorthWall
  35  EastWall
  36  SouthWall
  37  WestWall

Plan:
STEP 1: Turn to the right, walk around the table, turn to the left and walk to the desk.  | STEP 2: Pick up the book beside the clock from the desk.  | STEP 3: Turn to the left and walk to the end of the bed closest to the desk.  | STEP 4: Place the book by the laptop on the bed and closest to the desk.  | END