Task: Pick up the cushion from the bigger sofa and place it on the single smaller sofa

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.0            0.900          -1.25          0              0              0
   1  KeyChain        2.236          0.453          -1.974         0              270            0              47
   2  CreditCard      0.353          0.545          0.723          0              180            0              34
   3  CreditCard      0.133          0.553          0.997          0              180            0              34
   4  Box             -1.743         0.892          -0.585         0              180            0              41
   5  Box             2.513          0.144          -1.093         0              318.382        0              47
   6  Bowl            -1.807         0.760          -0.820         0              90             0              41
   7  KeyChain        -1.807         0.760          -1.526         0              90             0              41
   8  Vase            -1.588         0.168          -0.531         0              0              0              42
   9  Statue          -1.802         1.315          -2.467         0              270            0              39
  10  Pillow          -0.495         0.593          0.955          0              0              0              34
  11  Laptop          -0.115         0.475          -1.057         0              180            0              37
  12  Vase            -1.663         0.171          -0.724         0              90             0              42
  13  Statue          0.145          0.551          -1.129         0              0              0              37
  14  RemoteControl   -0.115         0.478          -1.245         0              180            0              37
  15  Vase            0.009          0.168          -2.264         0              0              0              31
  16  CreditCard      0.185          0.473          -1.307         0              180            0              37
  17  Vase            -0.416         0.474          -1.057         0              180            0              37
  18  Statue          -1.675         0.485          -0.642         0              90             0              44
  19  Painting        0.172          1.781          1.934          0              0              0
  20  HousePlant      -1.646         0.755          -1.792         0              0              0
  21  LightSwitch     1.406          1.294          1.651          0              180            0
  22  Television      -0.035         1.239          -2.439         0              0              0
  23  FloorLamp       -1.573         -0.003         1.302          0              0              0
  24  GarbageCan      0.742          -0.000         -2.522         0              270            0
  25  Window          -0.816         1.534          -2.719         90             0              0
  26  Window          0.791          1.534          -2.718         90             0              0
  27  Shelf           0.340          0.474          -2.377         0              0              0
  28  Shelf           0.341          0.273          -2.377         0              0              0
  29  TVStand         -0.025         -0.000         -2.385         0              0              0
  30  Shelf           -0.393         0.302          -2.382         0              0              0
  31  Shelf           -0.026         0.442          -2.380         0              0              0
  32  Shelf           -0.393         0.597          -2.382         0              0              0
  33  Shelf           0.340          0.643          -2.377         0              0              0
  34  Sofa            0.124          0.008          1.032          0              180            0
  35  Cabinet         -1.827         0.729          -2.357         0              90             0
  36  Shelf           -1.827         2.041          -2.356         0              90             0
  37  CoffeeTable     0.017          -0.000         -1.108         0              180            0
  38  Shelf           -1.827         1.744          -2.356         0              90             0
  39  Shelf           -1.827         1.452          -2.356         0              90             0
  40  Shelf           -1.730         0.278          -1.635         0              90             0
  41  TVStand         -1.733         -0.000         -1.058         0              90             0
  42  Shelf           -1.730         0.302          -0.479         0              90             0
  43  Shelf           -1.732         0.446          -1.056         0              90             0
  44  Shelf           -1.731         0.596          -0.478         0              90             0
  45  Shelf           -1.733         0.648          -1.635         0              90             0
  46  Shelf           -1.730         0.477          -1.635         0              90             0
  47  ArmChair        2.344          0.002          -2.041         0              270            0
  48  ShelvingUnit    -1.847         0.001          -2.357         0              90             0
  49  NorthWall
  50  EastWall
  51  SouthWall
  52  WestWall

Plan:
STEP 1: Go to the other side of the sofa with a cushion | STEP 2: Pick the cushion up from the sofa | STEP 3: Turn to your right and go across the room to face a sofa at the corner of the room | STEP 4: Place the cushion on the sofa | END