Task: Place book on right bedside table

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          -0.25          0              180            0
   1  Mug             -0.431         0.618          0.599          0              180            0              36
   2  Mug             -0.741         0.616          1.066          0              180            0              36
   3  CD              0.033          0.618          0.910          0              180            0              36
   4  CD              -0.276         0.618          0.599          0              180            0              36
   5  CellPhone       0.247          0.557          -2.103         0              0              0              24
   6  CreditCard      0.952          0.082          -2.423         0              0              0              41
   7  KeyChain        0.188          0.621          0.910          0              180            0              36
   8  KeyChain        -1.247         0.376          -2.375         0              0              0              42
   9  Book            0.064          0.555          -1.211         0              0              0              24
  10  Book            -0.121         0.617          0.832          0              180            0              36
  11  Box             2.453          0.222          -0.041         0              0              0
  12  Book            0.430          0.555          -0.988         0              0              0              24
  13  KeyChain        -0.431         0.621          0.988          0              180            0              36
  14  Pillow          -0.300         0.653          -1.211         0              0              0              24
  15  BaseballBat     0.419          0.666          1.044          10.360         0              0
  16  Pencil          -0.276         0.623          0.755          0              180            0              36
  17  CellPhone       0.909          0.375          -2.399         0              0              0              41
  18  CreditCard      0.188          0.620          0.755          0              180            0              36
  19  Pen             0.203          0.618          1.039          0              12.506         0              36
  20  Laptop          -0.661         0.613          0.778          0              165.000        0              36
  21  AlarmClock      -0.276         0.621          0.988          0              180            0              36
  22  CD              -1.247         0.082          -2.375         0              0              0              40
  23  Mug             -0.586         0.618          1.066          0              180            0              36
  24  Bed             -0.118         -0.001         -1.699         0              180            0
  25  Mirror          2.644          1.347          0.384          0              90             0
  26  GarbageCan      2.467          -0.029         0.936          0              271.107        0
  27  LightSwitch     0.333          1.256          1.149          0              180            0
  28  DeskLamp        0.915          0.670          -2.435         0              0              0
  29  Painting        0.003          1.562          -2.687         90             180            0
  30  Window          -1.559         1.414          -1.356         90             270            0
  31  Window          -1.559         1.414          -0.057         90             270            0
  32  Shelf           -0.276         0.351          0.832          0              0              0
  33  Shelf           -0.276         0.099          0.832          0              0              0
  34  Blinds          -1.462         2.157          -1.343         0              90             0
  35  Blinds          -1.462         2.157          -0.046         0              90             0
  36  Desk            -0.276         -0.001         0.833          0              0              0
  37  SideTable       -1.204         0.002          -2.456         0              0              0
  38  SideTable       0.948          0.002          -2.456         0              0              0
  39  Drawer          0.948          0.166          -2.389         0              0              0
  40  Drawer          -1.204         0.166          -2.389         0              0              0
  41  Drawer          0.948          0.458          -2.389         0              0              0
  42  Drawer          -1.204         0.458          -2.389         0              0              0
  43
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: go to left end of bed | STEP 2: pick up book on left, front corner of bed | STEP 3: go to empty bedside table to the right of bed | STEP 4: place book on bedside table | END