Task: put two books on couch

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -6.5           0.902          -1.0           0              270            0
   1  Watch           -2.750         0.076          -5.050         0              0              0              46
   2  Watch           -5.217         0.482          -5.003         0              0              0              41
   3  Statue          -2.151         0.594          -2.987         0              0              0              40
   4  Statue          -2.363         0.594          -2.822         0              0              0              40
   5  Pen             -4.073         0.710          -5.188         0              0              0              43
   6  Pen             -2.469         0.592          -1.996         0              0              0              40
   7  KeyChain        -4.461         0.336          -1.670         0              90             0              42
   8  KeyChain        -4.337         0.335          -3.302         0              0              0              37
   9  Book            -2.933         0.704          -5.093         0              0              0              43
  10  RemoteControl   -3.503         0.706          -5.046         0              0              0              43
  11  RemoteControl   -2.363         0.590          -1.996         0              0              0              40
  12  Box             -2.362         0.261          -1.647         0              76.161         0              Floor|-04.47|
  13  Book            -3.218         0.703          -5.093         0              0              0              43
  14  Newspaper       -4.265         0.34           -2.164         0              0              0              42
  15  Watch           -2.648         0.705          -5.093         0              0              0              43
  16  Pen             -0.956         0.428          -5.058         0              0              0              31
  17  WateringCan     -7.991         0.000          -4.629         0              296.796        0              Floor|-04.47|
  18  Pillow          -4.187         0.442          -3.447         0              90             0              37
  19  CreditCard      -2.016         0.482          -5.162         0              0              0              39
  20  Vase            -4.477         0.697          -5.076         0              0              0              43
  21  KeyChain        -5.217         0.482          -5.171         0              0              0              41
  22  Vase            -4.218         0.697          -5.046         0              0              0              43
  23  Laptop          -2.568         0.580          -2.514         0              300.000        0              40
  24  Statue          -2.151         0.594          -2.492         0              0              0              40
  25  Vase            -3.901         0.697          -5.103         0              0              0              43
  26  RemoteControl   -4.412         0.337          -3.374         0              90             0              37
  27  Vase            -2.609         0.580          -2.942         0              0              0              40
  28  Mirror          -3.402         2.028          0.000          0              0              0
  29  FloorLamp       -4.821         0.000          -5.118         0              0              0
  30  LightSwitch     -5.763         1.330          0.010          0              180            0
  31  GarbageCan      -0.969         -0.027         -5.058         0              0              0
  32  HousePlant      -5.629         0.478          -5.126         0              0              0
  33  Painting        -3.372         1.800          -5.392         90             180            0
  34  Television      -0.606         1.674          -2.602         0              270            0
  35  Window          -8.237         1.411          -1.509         90             270            0
  36  Window          -8.237         1.411          -4.081         90             270            0
  37  ArmChair        -4.334         0.001          -3.528         0              90             0
  38  Shelf           -2.475         0.124          -2.486         0              90             0
  39  SideTable       -2.016         0.002          -5.075         0              180            0
  40  CoffeeTable     -2.474         0.001          -2.489         0              90             0
  41  SideTable       -5.428         0.002          -5.123         0              180            0
  42  Sofa            -4.354         0.009          -2.089         0              90             0
  43  Dresser         -3.505         0.003          -5.101         0              0              0
  44  Drawer          -2.981         0.481          -5.031         0              0              0
  45  Drawer          -4.022         0.169          -5.013         0              0              0
  46  Drawer          -2.978         0.169          -5.013         0              0              0
  47  Drawer          -4.022         0.477          -5.013         0              0              0
  48  NorthWall
  49  EastWall
  50  SouthWall
  51  WestWall

Plan:
STEP 1: walk through room to face wooden bureau | STEP 2: pick up book from bureau top | STEP 3: turn to face couch | STEP 4: put book on couch | STEP 5: turn to face wooden bureau | STEP 6: pick up book from bureau top | STEP 7: turn to face couch | STEP 8: put book on couch | END