Task: put a book on a sofa

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          5.25           0              270            0
   1  Plate           -2.396         0.348          5.042          0              0              0              46
   2  TissueBox       -1.825         0.690          1.793          0              0              0              56
   3  Newspaper       -0.252         0.707          3.285          0              0              0              40
   4  Newspaper       -2.934         0.690          1.052          0              0              0              44
   5  Statue          -2.712         0.695          1.793          0              0              0              58
   6  Vase            -2.934         0.693          1.546          0              0              0              55
   7  Vase            -2.253         0.752          -0.159         0              0              0              52
   8  Pen             -2.761         0.243          6.192          0              0              0              47
   9  Pencil          -0.294         0.618          3.216          0              0              0              41
  10  KeyChain        -2.241         0.346          4.809          0              90             0              46
  11  KeyChain        -1.068         0.433          5.787          0              135            0              43
  12  RemoteControl   -2.086         0.348          4.887          0              0              0              46
  13  Laptop          -2.510         0.235          6.119          0              0              0              45
  14  Book            -1.872         0.680          1.167          0              0              0              54
  15  Box             -3.362         0.219          6.426          0              0              0              47
  16  Statue          -2.134         0.243          6.119          0              0              0              47
  17  Laptop          -4.334         0.449          5.875          0              59.999         0              42
  18  TissueBox       -2.473         0.347          4.887          0              0              0              46
  19  CreditCard      -0.313         0.615          3.139          0              0              0              41
  20  Plate           -2.269         0.689          1.299          0              0              0              44
  21  KeyChain        -2.318         0.604          5.120          0              0              0              45
  22  Vase            -2.396         0.101          5.042          0              0              0              48
  23  Pencil          -0.348         0.708          3.623          0              90             0              40
  24  Pillow          -3.271         0.661          3.44           0              0              331.220        50
  25  Bowl            -2.241         0.095          4.809          0              0              0              48
  26  RemoteControl   -2.318         0.351          4.731          0              0              0              46
  27  Watch           -1.834         0.748          -0.159         0              0              0              53
  28  Pen             -1.731         0.654          -0.077         0              0              0              53
  29  Newspaper       -2.473         0.099          4.654          0              0              0              48
  30  Painting        -2.048         1.615          -0.303         0              0              0
  31  Curtains        -0.083         2.420          0.969          0              0              0
  32  Television      -2.357         1.205          6.245          0              180            0
  33  HousePlant      -2.933         0.595          -0.093         0              0              0
  34  GarbageCan      -4.864         -0.001         0.267          0              90             0
  35  FloorLamp       -0.566         0.002          0.024          0              316.932        0
  36  DeskLamp        -0.273         0.700          3.612          0              0              0
  37  Window          -0.057         0.925          1.764          90             270            0
  38  Window          -0.057         1.130          4.886          90             270            0
  39  LightSwitch     -3.305         1.340          -0.314         0              0              0
  40  SideTable       -0.255         0.001          3.369          0              270            0
  41  Drawer          -0.306         0.626          3.369          0              270            0
  42  ArmChair        -4.376         -8.374         6.016          0              152.639        0
  43  ArmChair        -0.847         -8.106         5.983          0              231.318        0
  44  DiningTable     -2.268         -0.016         1.422          0              0              0
  45  CoffeeTable     -2.326         0.002          4.922          0              0              0
  46  Shelf           -2.326         0.338          4.922          0              0              0
  47  Shelf           -2.385         0.238          6.296          0              0              0
  48  Shelf           -2.326         0.089          4.922          0              0              0
  49  TVStand         -2.385         0.006          6.296          0              0              0
  50  Sofa            -2.404         -0.003         3.417          0              0              0
  51  SideTable       -2.935         0.004          -0.103         0              0              0
  52  SideTable       -2.113         0.002          -0.139         0              0              0
  53  Drawer          -2.113         0.654          -0.069         0              0              0
  54  Chair           -1.862         0.020          1.035          0              0              0
  55  Chair           -3.122         0.020          1.410          0              104.999        0
  56  Chair           -1.864         0.020          1.838          0              185.032        0
  57  Chair           -2.507         0.020          0.991          0              6.189          0
  58  Chair           -2.519         0.020          1.882          0              164.977        0
  59  Chair           -1.335         0.020          1.430          0              270            0
  60  NorthWall
  61  EastWall
  62  SouthWall
  63  WestWall

Plan:
STEP 1: walk to the dining room table to face a book with a rhinoceros on it | STEP 2: pick up the book with a rhino on it from the dining room table | STEP 3: walk to face the sofa | STEP 4: put the book upside down on the sofa  | END