Task: Collect a book to read on the sofa

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            0.901          1.25           0              270            0
   1  Watch           -1.966         0.448          2.280          0              0              0              28
   2  Watch           -1.966         0.448          2.200          0              0              0              28
   3  KeyChain        -2.093         0.448          2.280          0              0              0              28
   4  CreditCard      -1.101         0.546          0.830          0              0              0              29
   5  CreditCard      -0.351         0.546          0.830          0              0              0              29
   6  RemoteControl   -0.601         0.547          0.650          0              0              0              29
   7  RemoteControl   -1.499         0.711          3.649          0              0              0              30
   8  Pillow          -1.602         0.635          0.740          0              0              0              29
   9  Book            0.753          0.719          0.339          0              0              0              27
  10  Box             0.332          0.892          0.488          0              0              0              27
  11  Laptop          -1.461         0.446          2.200          0              0              0              28
  12  KeyChain        0.247          0.240          0.506          0              0              0              31
  13  Pillow          -0.506         0.664          0.431          36.288         0              0              29
  14  Statue          -1.050         0.712          3.869          0              0              0              30
  15  RemoteControl   -2.699         0.564          0.382          0              0              0              32
  16  CreditCard      1.006          0.713          0.339          0              0              0              27
  17  Watch           -1.966         0.448          2.521          0              0              0              28
  18  Painting        -3.049         1.690          4.341          0              0              0
  19  Curtains        -3.973         2.254          1.453          0              0              0
  20  Painting        -1.096         1.773          -0.017         0              0              0
  21  LightSwitch     -0.129         1.407          4.348          0              180            0
  22  GarbageCan      -0.376         0.003          4.103          0              180            0
  23  Television      -1.504         1.189          4.126          0              180            0
  24  HousePlant      -2.015         0.447          2.357          0              0              0
  25  FloorLamp       -3.686         -0.001         4.013          0              0              0
  26  Window          -4.051         1.197          1.312          90             270            0
  27  SideTable       0.626          0.006          0.340          0              0              0
  28  CoffeeTable     -1.735         0.005          2.360          0              0              0
  29  Sofa            -1.135         -0.004         0.517          0              0              0
  30  TVStand         -1.566         0.004          3.869          0              0              0
  31  Shelf           0.622          0.238          0.340          0              0              0
  32  ArmChair        -3.063         0.000          0.517          0              0              0
  33  NorthWall
  34  EastWall
  35  SouthWall
  36  WestWall

Plan:
STEP 1: Turn left and face the desk in the corner of the room | STEP 2: Pick up the book on the desk | STEP 3: Turn right and walk to the sofa then face it | STEP 4: Place the book on the sofa cushion | END