Task: Place a pillow on an armchair

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.0           0.920          6.25           0              180            0
   1  Newspaper       -0.319         0.286          5.255          0              0              0              26
   2  WateringCan     -3.015         0.448          4.501          0              0              0              42
   3  CreditCard      -0.750         0.616          0.919          0              0              0              39
   4  CreditCard      -4.623         0.536          3.232          0              90             0              40
   5  RemoteControl   -3.400         0.538          0.601          0              0              0              41
   6  RemoteControl   -3.015         0.450          3.836          0              0              0              42
   7  Box             -4.623         0.661          3.836          0              270            0              40
   8  Plate           -0.240         0.285          5.503          0              270            0              26
   9  Vase            -0.319         0.281          5.997          0              270            0              26
  10  WateringCan     -2.402         0.450          4.501          0              0              0              42
  11  Newspaper       -2.893         0.455          4.058          0              270            0              42
  12  Vase            -0.585         1.452          6.434          0              0              0              25
  13  KeyChain        -4.390         0.461          6.168          0              0              0              43
  14  Pillow          -1.578         0.608          0.667          0              0              0              41
  15  Statue          -2.893         0.452          3.614          0              0              0              42
  16  RemoteControl   -4.390         0.469          6.356          0              0              0              43
  17  CreditCard      -4.305         0.462          6.731          0              0              0              43
  18  Statue          -0.525         1.453          5.351          0              294.738        0              25
  19  Laptop          -4.342         0.523          2.224          0              32.685         0              40
  20  Statue          -0.594         0.623          0.997          0              0              0              39
  21  Curtains        -2.827         2.473          0.039          357.605        0              0
  22  Curtains        -2.184         2.473          0.039          357.605        0              0
  23  Curtains        -0.046         2.474          2.633          0              0              357.064
  24  DeskLamp        -0.484         0.612          0.691          0              0              1.144
  25  Shelf           -0.391         1.452          5.953          0              270            0
  26  Shelf           -0.398         0.270          5.961          0              270            0
  27  Television      -0.75          1.661          3.936          0              270            0
  28  GarbageCan      -0.525         -0.009         2.822          0              0              0
  29  Painting        -2.670         1.574          7.000          90             180            0
  30  Bowl            -2.400         0.464          3.442          0              0              0
  31  LightSwitch     -5.0           1.246          5.857          0              90             0
  32  Window          -1.373         1.565          0.008          90             180            0
  33  Window          -0.014         1.567          1.496          90             270            0
  34  Window          -3.726         1.565          0.008          90             180            0
  35  FloorLamp       -4.514         0.027          0.663          0              0              0
  36  HousePlant      -2.659         0.466          4.165          0              0              0
  37  Shelf           -0.594         0.104          0.841          0              0              0
  38  Shelf           -0.594         0.359          0.841          0              0              0
  39  SideTable       -0.594         0.018          0.841          0              0              0
  40  Sofa            -4.360         0.028          2.929          0              90             0
  41  Sofa            -2.493         0.028          0.725          0              0              0
  42  CoffeeTable     -2.648         0.019          4.058          0              270            0
  43  ArmChair        -4.446         0.017          6.450          0              90             0
  44  NorthWall
  45  SouthWall
  46  SouthWall

Plan:
STEP 1: Turn left and walk forward, then hang a right and cross the room the the grey couch | STEP 2: Pick up the purple pillow that is sitting on the grey couch | STEP 3: Turn around and cross the room, the hang left and walk to the grey arm chair | STEP 4: Place the pillow on the grey armchair on top of the newspaper | END