Task: Move a book from a desk to 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           -0.5           0.922          3.0            0              270            0
   1  TissueBox       -0.337         0.771          1.449          0              0              0              49
   2  TissueBox       -0.072         0.771          1.449          0              0              0              49
   3  Statue          -5.927         0.736          2.551          0              90             0              43
   4  Pencil          -5.618         0.731          0.219          0              90             0              41
   5  Pencil          -0.228         0.772          0.456          0              0              0              48
   6  Pen             -0.138         0.775          1.306          0              0              0              49
   7  Pen             -5.642         0.733          0.391          0              0              0              41
   8  KeyChain        -2.824         0.421          0.399          0              90             0              40
   9  KeyChain        -3.041         0.414          2.244          0              0              0              42
  10  RemoteControl   -5.788         0.730          0.342          0              0              0              41
  11  RemoteControl   -5.788         0.727          2.250          0              0              0              43
  12  Book            -0.205         0.768          1.663          0              0              0              49
  13  Box             -3.426         0.635          2.439          0              330.427        0              42
  14  KeyChain        -2.824         0.428          0.602          0              270            0              40
  15  Pillow          -2.147         0.615          0.59           0              0              42.945         40
  16  WateringCan     -5.238         0.020          0.136          0              0              0              Floor|+00.00|
  17  TissueBox       -3.041         0.418          2.054          0              0              0              42
  18  CreditCard      -5.881         0.722          2.551          0              0              0              43
  19  RemoteControl   -5.742         0.724          2.401          0              0              0              43
  20  Boots           0.034          0.021          3.091          0              259.598        0              Floor|+00.00|
  21  CellPhone       -5.720         0.405          2.127          0              0              0              54
  22  Pen             -5.422         0.733          0.342          0              180            0              41
  23  Laptop          -0.334         0.765          0.722          0              296.906        0              48
  24  Pencil          -3.188         0.416          2.530          0              0              0              42
  25  Statue          -0.294         0.781          0.314          0              180            0              48
  26  Statue          -2.749         0.423          2.530          0              0              0              42
  27  FloorLamp       -0.199         0.015          4.493          0              45             0
  28  GarbageCan      -5.800         -0.029         4.632          0              137.350        0
  29  HousePlant      -5.539         0.725          0.303          0              0              0
  30  LightSwitch     -2.499         1.526          4.850          0              180            0
  31  Window          0.129          2.384          2.414          90             270            0
  32  Painting        -0.048         1.220          0.462          90             270            0
  33  Painting        -0.048         1.868          0.504          90             270            0
  34  Television      -5.696         1.209          2.396          0              90             0
  35  Window          0.172          1.735          3.507          90             90             0
  36  Window          0.172          1.735          1.383          90             90             0
  37  Window          0.172          1.021          2.442          90             90             0
  38  Painting        -0.995         1.703          0.035          90             0              0
  39  Painting        -3.309         1.667          0.035          90             0              0
  40  Sofa            -3.126         0.031          0.609          0              0              0
  41  SideTable       -5.569         0.022          0.293          0              0              0
  42  CoffeeTable     -3.041         0.001          2.339          0              0              0
  43  Dresser         -5.695         0.024          2.401          0              90             0
  44  Drawer          -5.495         0.518          2.125          0              90             0
  45  Drawer          -5.495         0.209          2.676          0              90             0
  46  Drawer          -5.495         0.519          2.676          0              90             0
  47  Drawer          -5.495         0.209          2.125          0              90             0
  48  Desk            -0.305         0.025          0.620          0              270            0
  49  SideTable       -0.309         0.024          1.520          0              0              0
  50  Chair           -0.664         0.030          0.521          0              72.144         0
  51  Chair           -2.162         0.030          3.876          0              192.243        0
  52  Chair           -4.005         0.030          3.896          0              156.546        0
  53  ArmChair        -1.319         0.026          3.645          0              209.038        0
  54
  55  NorthWall
  56  EastWall
  57  SouthWall
  58  WestWall

Plan:
STEP 1: Turn around and walk to the book on the desk. | STEP 2: Pick up the book from the desk. | STEP 3: Turn around and walk to the sofa on the left. | STEP 4: Put the book on the middle of the sofa, to the right of the keys. | END