Task: Put the two books on the sofa

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.25          0.902          -3.5           0              270            0
   1  Newspaper       -2.469         0.593          -1.996         0              0              0              41
   2  Watch           -3.795         0.385          -5.001         0              0              0              48
   3  Watch           -4.249         0.385          -5.001         0              0              0              48
   4  Statue          -2.933         0.710          -5.093         0              0              0              44
   5  Statue          -2.151         0.594          -1.996         0              0              0              41
   6  Pen             -3.788         0.710          -5.235         0              0              0              44
   7  Pen             -5.318         0.487          -5.045         0              0              0              42
   8  KeyChain        -4.307         0.332          -1.462         0              180            0              43
   9  KeyChain        -4.362         0.385          -5.074         0              90             0              48
  10  Book            -3.218         0.704          -5.093         0              0              0              44
  11  RemoteControl   -2.786         0.590          -2.822         0              0              0              41
  12  Box             -4.230         0.594          -1.877         0              180            0              43
  13  Box             -2.362         0.261          -1.647         0              76.161         0              Floor|-04.47|
  14  Book            -2.525         0.697          -5.124         0              0              0              45
  15  Newspaper       -3.503         0.710          -5.093         0              0              0              44
  16  Watch           -4.358         0.704          -5.093         0              0              0              44
  17  Pen             -4.358         0.710          -5.141         0              0              0              44
  18  WateringCan     -7.991         0.000          -4.629         0              296.796        0              Floor|-04.47|
  19  Pillow          -4.262         0.442          -3.447         0              90             0              38
  20  CreditCard      -4.358         0.703          -4.999         0              0              0              44
  21  Vase            -4.477         0.697          -5.076         0              0              0              44
  22  KeyChain        -4.461         0.345          -1.877         0              90             0              43
  23  Vase            -4.218         0.697          -5.046         0              0              0              44
  24  Laptop          -2.568         0.580          -2.514         0              300.000        0              41
  25  Statue          -2.151         0.594          -2.822         0              0              0              41
  26  Vase            -3.901         0.697          -5.103         0              0              0              44
  27  RemoteControl   -5.117         0.484          -5.171         0              0              0              42
  28  Vase            -5.418         0.482          -5.213         0              0              0              42
  29  Mirror          -3.402         2.028          0.000          0              0              0
  30  FloorLamp       -4.821         0.000          -5.118         0              0              0
  31  LightSwitch     -5.763         1.330          0.010          0              180            0
  32  GarbageCan      -0.969         -0.027         -5.058         0              0              0
  33  HousePlant      -5.629         0.478          -5.126         0              0              0
  34  Painting        -3.372         1.800          -5.392         90             180            0
  35  Television      -0.606         1.674          -2.602         0              270            0
  36  Window          -8.237         1.411          -1.509         90             270            0
  37  Window          -8.237         1.411          -4.081         90             270            0
  38  ArmChair        -4.334         0.001          -3.528         0              90             0
  39  Shelf           -2.475         0.124          -2.486         0              90             0
  40  SideTable       -2.016         0.002          -5.075         0              180            0
  41  CoffeeTable     -2.474         0.001          -2.489         0              90             0
  42  SideTable       -5.428         0.002          -5.123         0              180            0
  43  Sofa            -4.354         0.009          -2.089         0              90             0
  44  Dresser         -3.505         0.003          -5.101         0              0              0
  45  Drawer          -2.981         0.481          -5.031         0              0              0
  46  Drawer          -4.022         0.169          -5.013         0              0              0
  47  Drawer          -2.978         0.169          -5.013         0              0              0
  48  Drawer          -4.022         0.477          -5.013         0              0              0
  49  NorthWall
  50  EastWall
  51  SouthWall
  52  WestWall

Plan:
STEP 1: Turn left face the cabinet  | STEP 2: Pick up the book on the cabinet | STEP 3: Turn right then head to the long sofa with box | STEP 4: Put the book on the sofa beside the box | STEP 5: Turn left head to the cabinet  | STEP 6: Pick up the book on the cabinet  | STEP 7: Turn back to the sofa | STEP 8: Put the book on top of the other on the sofa | END