Task: take the watch from the coffee table and place it on 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           1.5            0.900          -1.25          0              0              0
   1  KeyChain        1.849          0.872          0.326          0              90             0              33
   2  RemoteControl   1.522          0.316          -0.435         0              90             0              35
   3  Box             1.724          0.202          0.44           0              9.539          0              35
   4  KeyChain        -0.970         0.359          -0.577         0              90             0              26
   5  Watch           -0.711         0.552          -0.278         0              270            0              27
   6  Newspaper       -0.711         0.550          -0.192         0              270            0              27
   7  Pillow          0.151          0.561          -1.794         0              0              45             29
   8  CreditCard      -0.711         0.332          -1.771         0              0              0              29
   9  RemoteControl   -0.712         0.040          -0.544         0              90             0              22
  10  Laptop          -0.981         0.530          -0.37          0              33.821         0              27
  11  Statue          1.682          0.880          0.114          0              90             0              33
  12  Statue          -0.260         0.562          -0.365         0              270            0              27
  13  GarbageCan      -2.555         0.011          0.734          1.547          90             356.583
  14  LightSwitch     0.405          1.373          -2.400         0              0              0
  15  FloorLamp       1.728          -0.004         -2.084         0              13.085         0
  16  HousePlant      -0.561         0.549          -0.352         0              0              0
  17  Painting        1.909          1.457          0.300          90             270            0
  18  Television      -2.319         1.736          -1.994         0              45             0
  19  Window          -2.009         1.524          1.031          90             0              0
  20  Window          -0.432         1.524          1.031          90             0              0
  21  Window          -2.828         1.511          -0.025         90             270            0
  22  Drawer          -0.711         0.077          -0.556         0              180            0
  23  Drawer          -0.711         0.077          -0.173         0              180            0
  24  Drawer          -0.711         0.395          -0.173         0              180            0
  25  Drawer          -0.711         0.236          -0.173         0              180            0
  26  Drawer          -0.711         0.395          -0.556         0              180            0
  27  CoffeeTable     -0.711         0.002          -0.364         0              180            0
  28  Drawer          -0.716         0.236          -0.556         0              180            0
  29  Sofa            -0.500         0.008          -1.886         0              0              0
  30  Blinds          -0.395         2.135          0.922          0              0              0
  31  Blinds          -2.736         2.135          0.002          0              270            0
  32  Blinds          -2.0           2.135          0.922          0              0              0
  33  SideTable       1.807          0.000          0.326          0              270            0
  34  Drawer          1.743          0.774          0.325          0              270            0
  35  ArmChair        1.509          0.000          -0.588         0              270            0
  36  NorthWall
  37  EastWall
  38  SouthWall
  39  WestWall

Plan:
STEP 1: walk over to the coffee table | STEP 2: pick up the watch from the table | STEP 3: take the watch over to the desk | STEP 4: put the watch on top of the desk | END