Task: Put two books 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           -1.25          0.902          -3.0           0              180            0
   1  Watch           -5.117         0.482          -5.213         0              0              0              41
   2  Watch           -3.503         0.704          -4.999         0              0              0              43
   3  Pen             -2.786         0.592          -2.326         0              0              0              40
   4  Pen             -3.788         0.710          -5.188         0              0              0              43
   5  KeyChain        -4.487         0.335          -3.738         0              180            0              37
   6  KeyChain        -2.978         0.385          -5.025         0              180            0              44
   7  Book            -2.151         0.587          -2.822         0              0              0              40
   8  Book            -2.363         0.587          -2.822         0              0              0              40
   9  CreditCard      -4.358         0.704          -5.188         0              0              0              43
  10  RemoteControl   -4.487         0.337          -3.520         0              90             0              37
  11  Laptop          -3.218         0.701          -5.093         0              0              0              43
  12  Box             -2.363         0.836          -2.326         0              0              0              40
  13  Book            -2.363         0.587          -1.996         0              0              0              40
  14  Newspaper       -4.265         0.34           -2.164         0              0              0              42
  15  Watch           -2.750         0.076          -5.074         0              0              0              46
  16  Pen             -3.788         0.709          -5.046         0              0              0              43
  17  WateringCan     -7.991         0.000          -4.629         0              296.796        0              Floor|-04.47|
  18  Pillow          -4.282         0.454          -1.736         0              270            0              42
  19  CreditCard      -3.091         0.384          -5.050         0              0              0              44
  20  Vase            -4.477         0.697          -5.076         0              0              0              43
  21  KeyChain        -4.362         0.076          -5.001         0              180            0              45
  22  Vase            -2.574         0.592          -2.492         0              0              0              40
  23  Laptop          -4.187         0.333          -3.593         0              90             0              37
  24  Statue          -2.648         0.711          -5.046         0              0              0              43
  25  Vase            -2.786         0.592          -2.657         0              0              0              40
  26  RemoteControl   -5.217         0.484          -5.171         0              0              0              41
  27  Vase            -2.060         0.482          -5.119         0              0              0              39
  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: Turn around and face the table with the box on it. | STEP 2: Pick the book up from the table. | STEP 3: Go forward and face the couch with the newspaper on it. | STEP 4: Put the book on the couch to the left of the newspaper. | STEP 5: Turn around and face the table with the box again. | STEP 6: Pick the book closest to the edge up from the table. | STEP 7: Go around the table to face the couch. | STEP 8: Put the book on the couch. | END