Task: Place a book on a couch.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.902          -3.0           0              0              0
   1  Watch           -2.257         0.588          -2.326         0              0              0              39
   2  Pen             -2.363         0.592          -2.987         0              0              0              39
   3  Pen             -4.073         0.709          -5.188         0              0              0              42
   4  KeyChain        -2.363         0.588          -2.822         0              0              0              39
   5  KeyChain        -2.151         0.588          -1.996         0              0              0              39
   6  Book            -2.574         0.587          -1.996         0              0              0              39
   7  Book            -3.218         0.704          -5.046         0              0              0              42
   8  Book            -3.503         0.703          -5.141         0              0              0              42
   9  CreditCard      -2.750         0.076          -5.050         0              0              0              45
  10  Box             -4.187         0.584          -3.520         0              90             0              36
  11  Box             -2.362         0.261          -1.647         0              76.161         0              Floor|-04.47|
  12  Book            -2.257         0.587          -2.822         0              0              0              39
  13  Newspaper       -2.648         0.710          -5.141         0              0              0              42
  14  Watch           -1.883         0.482          -4.946         0              0              0              38
  15  Pen             -2.680         0.592          -2.161         0              0              0              39
  16  WateringCan     -7.991         0.000          -4.629         0              296.796        0              Floor|-04.47|
  17  Pillow          -4.282         0.454          -1.736         0              270            0              41
  18  CreditCard      -3.205         0.384          -5.025         0              0              0              43
  19  Vase            -4.477         0.697          -5.076         0              0              0              42
  20  KeyChain        -2.786         0.588          -2.326         0              0              0              39
  21  Vase            -2.060         0.487          -5.032         0              0              0              38
  22  Laptop          -2.568         0.580          -2.514         0              300.000        0              39
  23  Statue          -2.933         0.711          -5.093         0              0              0              42
  24  Vase            -2.363         0.592          -2.161         0              0              0              39
  25  RemoteControl   -3.788         0.707          -5.093         0              0              0              42
  26  Vase            -2.609         0.580          -2.942         0              0              0              39
  27  Mirror          -3.402         2.028          0.000          0              0              0
  28  FloorLamp       -4.821         0.000          -5.118         0              0              0
  29  LightSwitch     -5.763         1.330          0.010          0              180            0
  30  GarbageCan      -0.969         -0.027         -5.058         0              0              0
  31  HousePlant      -5.629         0.478          -5.126         0              0              0
  32  Painting        -3.372         1.800          -5.392         90             180            0
  33  Television      -0.606         1.674          -2.602         0              270            0
  34  Window          -8.237         1.411          -1.509         90             270            0
  35  Window          -8.237         1.411          -4.081         90             270            0
  36  ArmChair        -4.334         0.001          -3.528         0              90             0
  37  Shelf           -2.475         0.124          -2.486         0              90             0
  38  SideTable       -2.016         0.002          -5.075         0              180            0
  39  CoffeeTable     -2.474         0.001          -2.489         0              90             0
  40  SideTable       -5.428         0.002          -5.123         0              180            0
  41  Sofa            -4.354         0.009          -2.089         0              90             0
  42  Dresser         -3.505         0.003          -5.101         0              0              0
  43  Drawer          -2.981         0.481          -5.031         0              0              0
  44  Drawer          -4.022         0.169          -5.013         0              0              0
  45  Drawer          -2.978         0.169          -5.013         0              0              0
  46  Drawer          -4.022         0.477          -5.013         0              0              0
  47  NorthWall
  48  EastWall
  49  SouthWall
  50  WestWall

Plan:
STEP 1: Turn around, head to the chair on the right and walk to the front of the wooden coffee table on the right. | STEP 2: Pick up the green book from the left side of the coffee table. | STEP 3: Turn around to face the gray couch. | STEP 4: Put the book on the left side of the middle cushion of the couch. | END