Task: put a book in the chair

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.902          -4.5           0              270            0
   1  Watch           -4.022         0.076          -4.976         0              0              0              38
   2  Watch           -2.151         0.588          -1.996         0              0              0              33
   3  KeyChain        -5.418         0.482          -5.213         0              0              0              34
   4  CreditCard      -4.249         0.384          -5.074         0              0              0              40
   5  Box             -2.362         0.261          -1.647         0              76.161         0              Floor|-04.47|
   6  Book            -2.363         0.587          -1.996         0              0              0              33
   7  Newspaper       -3.218         0.711          -5.093         0              0              0              36
   8  Watch           -2.786         0.588          -2.987         0              0              0              33
   9  Pen             -3.503         0.709          -4.999         0              0              0              36
  10  WateringCan     -7.991         0.000          -4.629         0              296.796        0              Floor|-04.47|
  11  Pillow          -4.282         0.454          -1.736         0              270            0              35
  12  CreditCard      -4.076         0.332          -1.877         0              0              0              35
  13  Vase            -4.477         0.697          -5.076         0              0              0              36
  14  KeyChain        -3.318         0.385          -4.976         0              270            0              37
  15  Vase            -4.218         0.697          -5.046         0              0              0              36
  16  Laptop          -2.568         0.580          -2.514         0              300.000        0              33
  17  Statue          -5.117         0.488          -5.171         0              0              0              34
  18  Vase            -3.901         0.697          -5.103         0              0              0              36
  19  RemoteControl   -2.151         0.590          -2.657         0              0              0              33
  20  Vase            -3.503         0.704          -5.188         0              0              0              36
  21  Mirror          -3.402         2.028          0.000          0              0              0
  22  FloorLamp       -4.821         0.000          -5.118         0              0              0
  23  LightSwitch     -5.763         1.330          0.010          0              180            0
  24  GarbageCan      -0.969         -0.027         -5.058         0              0              0
  25  HousePlant      -5.629         0.478          -5.126         0              0              0
  26  Painting        -3.372         1.800          -5.392         90             180            0
  27  Television      -0.606         1.674          -2.602         0              270            0
  28  Window          -8.237         1.411          -1.509         90             270            0
  29  Window          -8.237         1.411          -4.081         90             270            0
  30  ArmChair        -4.334         0.001          -3.528         0              90             0
  31  Shelf           -2.475         0.124          -2.486         0              90             0
  32  SideTable       -2.016         0.002          -5.075         0              180            0
  33  CoffeeTable     -2.474         0.001          -2.489         0              90             0
  34  SideTable       -5.428         0.002          -5.123         0              180            0
  35  Sofa            -4.354         0.009          -2.089         0              90             0
  36  Dresser         -3.505         0.003          -5.101         0              0              0
  37  Drawer          -2.981         0.481          -5.031         0              0              0
  38  Drawer          -4.022         0.169          -5.013         0              0              0
  39  Drawer          -2.978         0.169          -5.013         0              0              0
  40  Drawer          -4.022         0.477          -5.013         0              0              0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: go to the coffee table | STEP 2: take the engineer book from the table | STEP 3: take the book to the chair on the left | STEP 4: put the book on the left side of the cushion of the chair | END