Task: move book from table to couch

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.75          0.902          5.75           0              0              0
   1  Plate           -2.490         0.689          1.052          0              0              0              55
   2  Plate           -2.934         0.689          1.670          0              0              0              53
   3  Newspaper       -2.164         0.099          4.809          0              0              0              46
   4  Statue          -2.490         0.695          1.299          0              0              0              55
   5  Statue          -2.393         0.753          -0.159         0              180            0              50
   6  Vase            -2.473         0.352          5.042          0              0              0              44
   7  Pencil          -2.368         0.651          -0.105         0              0              0              51
   8  Pencil          -4.868         0.056          0.362          0              90             0              32
   9  KeyChain        -2.473         0.098          4.964          0              0              0              46
  10  RemoteControl   -2.253         0.750          -0.159         0              0              0              50
  11  Laptop          -2.510         0.235          6.119          0              0              0              43
  12  Book            -1.872         0.680          1.167          0              0              0              52
  13  Box             -3.362         0.219          6.426          0              0              0              45
  14  Statue          -0.252         0.710          3.369          0              90             0              38
  15  Laptop          -1.698         0.680          1.659          0              329.236        0              54
  16  TissueBox       -2.473         0.097          4.731          0              0              0              46
  17  CreditCard      -2.318         0.095          5.120          0              0              0              46
  18  Plate           -2.401         0.681          1.676          0              0              0              56
  19  KeyChain        -0.254         0.616          3.521          0              0              0              39
  20  Vase            -2.712         0.693          1.423          0              0              0              42
  21  Pencil          -4.840         0.056          0.267          0              90             0              32
  22  Pillow          -3.271         0.661          3.44           0              0              331.220        48
  23  Bowl            -2.047         0.688          1.546          0              0              0              42
  24  RemoteControl   -2.551         0.606          4.809          0              0              0              43
  25  Watch           -0.313         0.616          3.445          0              0              0              39
  26  Pen             -2.008         0.243          6.156          0              0              0              45
  27  Newspaper       -2.241         0.347          4.731          0              0              0              44
  28  Painting        -2.048         1.615          -0.303         0              0              0
  29  Curtains        -0.083         2.420          0.969          0              0              0
  30  Television      -2.357         1.205          6.245          0              180            0
  31  HousePlant      -2.933         0.595          -0.093         0              0              0
  32  GarbageCan      -4.864         -0.001         0.267          0              90             0
  33  FloorLamp       -0.566         0.002          0.024          0              316.932        0
  34  DeskLamp        -0.273         0.700          3.612          0              0              0
  35  Window          -0.057         0.925          1.764          90             270            0
  36  Window          -0.057         1.130          4.886          90             270            0
  37  LightSwitch     -3.305         1.340          -0.314         0              0              0
  38  SideTable       -0.255         0.001          3.369          0              270            0
  39  Drawer          -0.306         0.626          3.369          0              270            0
  40  ArmChair        -4.376         -8.374         6.016          0              152.639        0
  41  ArmChair        -0.847         -8.106         5.983          0              231.318        0
  42  DiningTable     -2.268         -0.016         1.422          0              0              0
  43  CoffeeTable     -2.326         0.002          4.922          0              0              0
  44  Shelf           -2.326         0.338          4.922          0              0              0
  45  Shelf           -2.385         0.238          6.296          0              0              0
  46  Shelf           -2.326         0.089          4.922          0              0              0
  47  TVStand         -2.385         0.006          6.296          0              0              0
  48  Sofa            -2.404         -0.003         3.417          0              0              0
  49  SideTable       -2.935         0.004          -0.103         0              0              0
  50  SideTable       -2.113         0.002          -0.139         0              0              0
  51  Drawer          -2.113         0.654          -0.069         0              0              0
  52  Chair           -1.862         0.020          1.035          0              0              0
  53  Chair           -3.122         0.020          1.410          0              104.999        0
  54  Chair           -1.864         0.020          1.838          0              185.032        0
  55  Chair           -2.507         0.020          0.991          0              6.189          0
  56  Chair           -2.519         0.020          1.882          0              164.977        0
  57  Chair           -1.335         0.020          1.430          0              270            0
  58  NorthWall
  59  EastWall
  60  SouthWall
  61  WestWall

Plan:
STEP 1: turn right, walk towards the chair, turn right, walk towards the couch, turn left, take a step, turn right, walk across room, turn right, take a few steps, turn right to face the table | STEP 2: pick up the book that is on the table | STEP 3: turn right, walk forward, turn left, walk past couch, turn left, take a few steps, turn left to face couch | STEP 4: put the book on to the couch | END