Task: To put the book on the couch.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.25          0.901          2.0            0              90             0
   1  Watch           0.247          0.240          0.426          0              0              0              29
   2  Statue          -1.349         0.712          3.869          0              0              0              28
   3  CreditCard      0.627          0.717          0.096          0              0              0              25
   4  CreditCard      -1.461         0.447          2.280          0              0              0              26
   5  RemoteControl   -1.840         0.449          2.200          0              0              0              26
   6  Laptop          -2.824         0.561          0.475          0              0              0              30
   7  Book            -3.075         0.565          0.754          0              0              0              30
   8  Box             0.332          0.892          0.488          0              0              0              25
   9  Laptop          -1.714         0.446          2.521          0              0              0              26
  10  KeyChain        -1.852         0.546          0.381          0              0              0              27
  11  Pillow          -0.506         0.664          0.431          36.288         0              0              27
  12  Statue          -1.050         0.716          3.869          0              0              0              28
  13  RemoteControl   -1.335         0.449          2.361          0              0              0              26
  14  CreditCard      -1.200         0.710          3.649          0              0              0              28
  15  Watch           -1.335         0.448          2.200          0              0              0              26
  16  Painting        -3.049         1.690          4.341          0              0              0
  17  Curtains        -3.973         2.254          1.453          0              0              0
  18  Painting        -1.096         1.773          -0.017         0              0              0
  19  LightSwitch     -0.129         1.407          4.348          0              180            0
  20  GarbageCan      -0.376         0.003          4.103          0              180            0
  21  Television      -1.504         1.189          4.126          0              180            0
  22  HousePlant      -2.015         0.447          2.357          0              0              0
  23  FloorLamp       -3.686         -0.001         4.013          0              0              0
  24  Window          -4.051         1.197          1.312          90             270            0
  25  SideTable       0.626          0.006          0.340          0              0              0
  26  CoffeeTable     -1.735         0.005          2.360          0              0              0
  27  Sofa            -1.135         -0.004         0.517          0              0              0
  28  TVStand         -1.566         0.004          3.869          0              0              0
  29  Shelf           0.622          0.238          0.340          0              0              0
  30  ArmChair        -3.063         0.000          0.517          0              0              0
  31  NorthWall
  32  EastWall
  33  SouthWall
  34  WestWall

Plan:
STEP 1: Turn to the right and walk to the chair.  | STEP 2: Take the book off of the chair. | STEP 3: Turn to the left and walk to the coffee table, then turn right to face the couch.  | STEP 4: Place the book in the middle of the couch.  | END