Task: Put the pillow on the couch

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -5.25          0.902          -2.75          0              90             0
   1  Statue          -2.786         0.594          -2.326         0              0              0              35
   2  Statue          -3.218         0.711          -5.188         0              0              0              38
   3  Pen             -4.073         0.709          -5.235         0              0              0              38
   4  KeyChain        -2.786         0.588          -2.161         0              180            0              35
   5  KeyChain        -4.384         0.332          -2.707         0              270            0              Floor|-04.47|
   6  CreditCard      -3.788         0.704          -4.999         0              0              0              38
   7  Box             -2.362         0.261          -1.647         0              76.161         0              Floor|-04.47|
   8  Book            -1.927         0.481          -5.076         0              0              0              34
   9  Newspaper       -4.265         0.34           -2.164         0              0              0              37
  10  Watch           -3.503         0.704          -4.952         0              0              0              38
  11  Pen             -4.358         0.710          -4.952         0              0              0              38
  12  WateringCan     -7.991         0.000          -4.629         0              296.796        0              Floor|-04.47|
  13  Pillow          -4.262         0.442          -3.593         0              90             0              32
  14  CreditCard      -2.648         0.703          -4.952         0              0              0              38
  15  Vase            -4.477         0.697          -5.076         0              0              0              38
  16  KeyChain        -2.933         0.705          -5.188         0              0              0              38
  17  Vase            -4.218         0.697          -5.046         0              0              0              38
  18  Laptop          -2.257         0.585          -2.492         0              0              0              35
  19  Statue          -2.257         0.594          -2.161         0              0              0              35
  20  Vase            -3.503         0.709          -5.141         0              0              0              38
  21  RemoteControl   -4.292         0.321          -2.662         0              119.860        0              Floor|-04.47|
  22  Vase            -5.217         0.482          -5.045         0              0              0              36
  23  Mirror          -3.402         2.028          0.000          0              0              0
  24  FloorLamp       -4.821         0.000          -5.118         0              0              0
  25  LightSwitch     -5.763         1.330          0.010          0              180            0
  26  GarbageCan      -0.969         -0.027         -5.058         0              0              0
  27  HousePlant      -5.629         0.478          -5.126         0              0              0
  28  Painting        -3.372         1.800          -5.392         90             180            0
  29  Television      -0.606         1.674          -2.602         0              270            0
  30  Window          -8.237         1.411          -1.509         90             270            0
  31  Window          -8.237         1.411          -4.081         90             270            0
  32  ArmChair        -4.334         0.001          -3.528         0              90             0
  33  Shelf           -2.475         0.124          -2.486         0              90             0
  34  SideTable       -2.016         0.002          -5.075         0              180            0
  35  CoffeeTable     -2.474         0.001          -2.489         0              90             0
  36  SideTable       -5.428         0.002          -5.123         0              180            0
  37  Sofa            -4.354         0.009          -2.089         0              90             0
  38  Dresser         -3.505         0.003          -5.101         0              0              0
  39  Drawer          -2.981         0.481          -5.031         0              0              0
  40  Drawer          -4.022         0.169          -5.013         0              0              0
  41  Drawer          -2.978         0.169          -5.013         0              0              0
  42  Drawer          -4.022         0.477          -5.013         0              0              0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: Walk around the right side of the couch and turn back to face the chair next to it | STEP 2: Pick up the pillow from the chair | STEP 3: Walk a few feet right and face the couch | STEP 4: Put the pillow on the couch right of the newspaper | END