Task: Move a book to 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           -1.0           0.902          0.5            0              90             0
   1  Bowl            -2.269         0.688          1.299          0              0              0              46
   2  Bowl            -2.241         0.097          4.964          0              0              0              50
   3  TissueBox       -1.974         0.749          -0.159         0              0              0              54
   4  Newspaper       -2.318         0.097          4.731          0              0              0              50
   5  Newspaper       -2.047         0.690          1.670          0              0              0              58
   6  Watch           -1.731         0.648          -0.133         0              0              0              55
   7  Watch           -1.603         0.689          1.052          0              0              0              46
   8  Statue          -2.490         0.695          1.423          0              0              0              46
   9  Vase            -2.761         0.242          6.156          0              0              0              49
  10  Vase            -2.393         0.752          -0.159         0              0              0              54
  11  KeyChain        -0.642         0.433          6.081          0              315            0              45
  12  CreditCard      -2.473         0.345          4.887          0              0              0              48
  13  CreditCard      -1.986         0.649          -0.077         0              0              0              55
  14  RemoteControl   -2.241         0.606          4.731          0              0              0              47
  15  RemoteControl   -2.008         0.240          6.119          0              0              0              49
  16  Book            -1.872         0.680          1.167          0              0              0              56
  17  Box             -3.362         0.219          6.426          0              0              0              49
  18  Statue          -2.269         0.695          1.052          0              0              0              59
  19  Laptop          -1.698         0.680          1.659          0              329.236        0              58
  20  TissueBox       -2.934         0.690          1.670          0              0              0              46
  21  CreditCard      -1.002         0.432          5.721          0              135            0              45
  22  Plate           -2.401         0.681          1.676          0              0              0              60
  23  KeyChain        -1.025         0.438          6.224          0              135            0              45
  24  Vase            -2.318         0.352          4.809          0              0              0              48
  25  Pencil          -0.252         0.707          3.454          0              0              0              42
  26  Pillow          -3.271         0.661          3.44           0              0              331.220        52
  27  Bowl            -2.934         0.688          1.052          0              0              0              46
  28  RemoteControl   -0.316         0.707          3.285          0              0              0              42
  29  Watch           -0.294         0.616          3.445          0              0              0              43
  30  Pen             -2.164         0.351          4.654          0              0              0              48
  31  Newspaper       -2.134         0.239          6.119          0              0              0              49
  32  Painting        -2.048         1.615          -0.303         0              0              0
  33  Curtains        -0.083         2.420          0.969          0              0              0
  34  Television      -2.357         1.205          6.245          0              180            0
  35  HousePlant      -2.933         0.595          -0.093         0              0              0
  36  GarbageCan      -4.864         -0.001         0.267          0              90             0
  37  FloorLamp       -0.566         0.002          0.024          0              316.932        0
  38  DeskLamp        -0.273         0.700          3.612          0              0              0
  39  Window          -0.057         0.925          1.764          90             270            0
  40  Window          -0.057         1.130          4.886          90             270            0
  41  LightSwitch     -3.305         1.340          -0.314         0              0              0
  42  SideTable       -0.255         0.001          3.369          0              270            0
  43  Drawer          -0.306         0.626          3.369          0              270            0
  44  ArmChair        -4.376         -8.374         6.016          0              152.639        0
  45  ArmChair        -0.847         -8.106         5.983          0              231.318        0
  46  DiningTable     -2.268         -0.016         1.422          0              0              0
  47  CoffeeTable     -2.326         0.002          4.922          0              0              0
  48  Shelf           -2.326         0.338          4.922          0              0              0
  49  Shelf           -2.385         0.238          6.296          0              0              0
  50  Shelf           -2.326         0.089          4.922          0              0              0
  51  TVStand         -2.385         0.006          6.296          0              0              0
  52  Sofa            -2.404         -0.003         3.417          0              0              0
  53  SideTable       -2.935         0.004          -0.103         0              0              0
  54  SideTable       -2.113         0.002          -0.139         0              0              0
  55  Drawer          -2.113         0.654          -0.069         0              0              0
  56  Chair           -1.862         0.020          1.035          0              0              0
  57  Chair           -3.122         0.020          1.410          0              104.999        0
  58  Chair           -1.864         0.020          1.838          0              185.032        0
  59  Chair           -2.507         0.020          0.991          0              6.189          0
  60  Chair           -2.519         0.020          1.882          0              164.977        0
  61  Chair           -1.335         0.020          1.430          0              270            0
  62  NorthWall
  63  EastWall
  64  SouthWall
  65  WestWall

Plan:
STEP 1: Turn around and face the table on the right. | STEP 2: Pick up the book from the right side of the table. | STEP 3: Carry the book and turn to the right and left around the table. Move forward to turn left after the couch. Face the couch on the left. | STEP 4: Place the book on the couch, in the middle. | END