Task: put a cushion on a chair

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.0            0.900          0.75           0              0              0
   1  Bowl            -0.115         0.477          -0.995         0              180            0              41
   2  KeyChain        2.067          0.512          -1.890         0              0              0              51
   3  KeyChain        -1.663         0.171          -0.724         0              90             0              46
   4  RemoteControl   2.151          0.453          -1.890         0              270            0              51
   5  CreditCard      -0.451         0.756          -2.472         0              0              0              33
   6  CreditCard      0.210          0.176          -2.160         0              0              0              32
   7  Box             0.133          0.688          0.814          0              180            0              38
   8  Laptop          -1.680         0.758          -0.350         0              90             0              45
   9  Box             -1.807         0.889          -0.820         0              270            0              45
  10  Bowl            -0.416         0.477          -1.245         0              180            0              41
  11  KeyChain        -1.871         0.757          -1.526         0              90             0              45
  12  Vase            -1.588         0.168          -0.531         0              0              0              46
  13  Statue          -1.736         0.173          -1.056         0              90             0              47
  14  Pillow          -0.495         0.593          0.955          0              0              0              38
  15  Laptop          0.794          0.543          0.906          0              180            0              38
  16  Vase            0.336          0.478          -0.995         0              180            0              41
  17  Statue          0.145          0.551          -1.129         0              0              0              41
  18  RemoteControl   0.185          0.474          -1.245         0              180            0              41
  19  Vase            0.009          0.168          -2.264         0              0              0              35
  20  CreditCard      -0.087         0.551          0.814          0              180            0              38
  21  Vase            0.336          0.478          -1.245         0              180            0              41
  22  Statue          -1.616         0.770          -1.526         0              90             0              45
  23  Painting        0.172          1.781          1.934          0              0              0
  24  HousePlant      -1.646         0.755          -1.792         0              0              0
  25  LightSwitch     1.406          1.294          1.651          0              180            0
  26  Television      -0.035         1.239          -2.439         0              0              0
  27  FloorLamp       -1.573         -0.003         1.302          0              0              0
  28  GarbageCan      0.742          -0.000         -2.522         0              270            0
  29  Window          -0.816         1.534          -2.719         90             0              0
  30  Window          0.791          1.534          -2.718         90             0              0
  31  Shelf           0.340          0.474          -2.377         0              0              0
  32  Shelf           0.341          0.273          -2.377         0              0              0
  33  TVStand         -0.025         -0.000         -2.385         0              0              0
  34  Shelf           -0.393         0.302          -2.382         0              0              0
  35  Shelf           -0.026         0.442          -2.380         0              0              0
  36  Shelf           -0.393         0.597          -2.382         0              0              0
  37  Shelf           0.340          0.643          -2.377         0              0              0
  38  Sofa            0.124          0.008          1.032          0              180            0
  39  Cabinet         -1.827         0.729          -2.357         0              90             0
  40  Shelf           -1.827         2.041          -2.356         0              90             0
  41  CoffeeTable     0.017          -0.000         -1.108         0              180            0
  42  Shelf           -1.827         1.744          -2.356         0              90             0
  43  Shelf           -1.827         1.452          -2.356         0              90             0
  44  Shelf           -1.730         0.278          -1.635         0              90             0
  45  TVStand         -1.733         -0.000         -1.058         0              90             0
  46  Shelf           -1.730         0.302          -0.479         0              90             0
  47  Shelf           -1.732         0.446          -1.056         0              90             0
  48  Shelf           -1.731         0.596          -0.478         0              90             0
  49  Shelf           -1.733         0.648          -1.635         0              90             0
  50  Shelf           -1.730         0.477          -1.635         0              90             0
  51  ArmChair        2.344          0.002          -2.041         0              270            0
  52  ShelvingUnit    -1.847         0.001          -2.357         0              90             0
  53  NorthWall
  54  EastWall
  55  SouthWall
  56  WestWall

Plan:
STEP 1: walk to face left side of blue sofa with box  | STEP 2: pick up blue cushion from sofa | STEP 3: walk to face blue plush chair | STEP 4: put cushion on blue plush chair | END