Task: Move a book from a dresser to an armchair.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -5.0           0.902          -1.0           0              0              0
   1  Newspaper       -2.680         0.593          -1.996         0              0              0              37
   2  Watch           -2.648         0.704          -5.235         0              0              0              40
   3  Watch           -4.358         0.705          -4.952         0              0              0              40
   4  Statue          -2.469         0.594          -2.326         0              0              0              37
   5  KeyChain        -3.091         0.385          -5.050         0              0              0              41
   6  KeyChain        -2.363         0.588          -2.492         0              0              0              37
   7  Book            -3.218         0.703          -5.093         0              0              0              40
   8  Book            -2.680         0.587          -2.326         0              0              0              37
   9  Box             -2.362         0.261          -1.647         0              76.161         0              Floor|-04.47|
  10  Book            -3.503         0.703          -5.141         0              0              0              40
  11  Newspaper       -4.265         0.34           -2.164         0              0              0              39
  12  Watch           -3.091         0.076          -4.976         0              0              0              43
  13  Pen             -3.788         0.709          -4.999         0              0              0              40
  14  WateringCan     -7.991         0.000          -4.629         0              296.796        0              Floor|-04.47|
  15  Pillow          -4.282         0.454          -1.736         0              270            0              39
  16  CreditCard      -3.908         0.076          -4.976         0              0              0              42
  17  Vase            -4.477         0.697          -5.076         0              0              0              40
  18  KeyChain        -2.648         0.705          -5.093         0              0              0              40
  19  Vase            -4.218         0.697          -5.046         0              0              0              40
  20  Laptop          -2.363         0.585          -1.996         0              0              0              37
  21  Statue          -2.933         0.710          -5.188         0              0              0              40
  22  Vase            -2.680         0.592          -2.657         0              0              0              37
  23  RemoteControl   -5.217         0.484          -5.129         0              0              0              38
  24  Vase            -2.016         0.482          -5.119         0              0              0              36
  25  Mirror          -3.402         2.028          0.000          0              0              0
  26  FloorLamp       -4.821         0.000          -5.118         0              0              0
  27  LightSwitch     -5.763         1.330          0.010          0              180            0
  28  GarbageCan      -0.969         -0.027         -5.058         0              0              0
  29  HousePlant      -5.629         0.478          -5.126         0              0              0
  30  Painting        -3.372         1.800          -5.392         90             180            0
  31  Television      -0.606         1.674          -2.602         0              270            0
  32  Window          -8.237         1.411          -1.509         90             270            0
  33  Window          -8.237         1.411          -4.081         90             270            0
  34  ArmChair        -4.334         0.001          -3.528         0              90             0
  35  Shelf           -2.475         0.124          -2.486         0              90             0
  36  SideTable       -2.016         0.002          -5.075         0              180            0
  37  CoffeeTable     -2.474         0.001          -2.489         0              90             0
  38  SideTable       -5.428         0.002          -5.123         0              180            0
  39  Sofa            -4.354         0.009          -2.089         0              90             0
  40  Dresser         -3.505         0.003          -5.101         0              0              0
  41  Drawer          -2.981         0.481          -5.031         0              0              0
  42  Drawer          -4.022         0.169          -5.013         0              0              0
  43  Drawer          -2.978         0.169          -5.013         0              0              0
  44  Drawer          -4.022         0.477          -5.013         0              0              0
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: Turn right, walk forward just past the sofa, then turn right and walk across the room to the books on the dresser. | STEP 2: Pick up the book on the right. | STEP 3: Turn around, walk forward slightly and turn left towards the armchair. | STEP 4: Put the book on the seat of the armchair. | END