Task: Place a pillow 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           -2.25          0.920          2.5            0              90             0
   1  Newspaper       -2.191         0.543          0.601          0              0              0              42
   2  Vase            -2.280         0.447          4.058          0              0              0              43
   3  KeyChain        -0.672         0.617          0.919          0              0              0              40
   4  CreditCard      -4.305         0.457          6.168          0              0              0              44
   5  CreditCard      -0.437         0.616          0.997          0              0              0              40
   6  RemoteControl   -2.525         0.450          3.836          0              0              0              43
   7  Box             -4.393         0.661          2.627          0              90             0              41
   8  Box             -0.464         0.399          6.548          0              0              0              27
   9  Plate           -0.563         1.466          5.742          0              270            0              26
  10  Vase            -2.770         0.449          3.614          0              0              0              43
  11  WateringCan     -2.280         0.450          4.279          0              0              0              43
  12  Newspaper       -0.476         0.286          6.739          0              270            0              27
  13  Vase            -3.015         0.454          4.501          0              0              0              43
  14  KeyChain        -0.750         0.617          0.686          0              0              0              40
  15  Pillow          -1.578         0.608          0.667          0              0              0              42
  16  Statue          -0.319         0.286          5.503          0              90             0              27
  17  RemoteControl   -0.240         0.281          5.997          0              270            0              27
  18  CreditCard      -0.359         0.616          1.075          0              0              0              40
  19  Statue          -0.525         1.453          5.351          0              294.738        0              26
  20  Laptop          -2.525         0.445          4.722          0              0              0              43
  21  Statue          -0.598         1.452          6.794          0              284.797        0              26
  22  Curtains        -2.827         2.473          0.039          357.605        0              0
  23  Curtains        -2.184         2.473          0.039          357.605        0              0
  24  Curtains        -0.046         2.474          2.633          0              0              357.064
  25  DeskLamp        -0.484         0.612          0.691          0              0              1.144
  26  Shelf           -0.391         1.452          5.953          0              270            0
  27  Shelf           -0.398         0.270          5.961          0              270            0
  28  Television      -0.75          1.661          3.936          0              270            0
  29  GarbageCan      -0.525         -0.009         2.822          0              0              0
  30  Painting        -2.670         1.574          7.000          90             180            0
  31  Bowl            -2.400         0.464          3.442          0              0              0
  32  LightSwitch     -5.0           1.246          5.857          0              90             0
  33  Window          -1.373         1.565          0.008          90             180            0
  34  Window          -0.014         1.567          1.496          90             270            0
  35  Window          -3.726         1.565          0.008          90             180            0
  36  FloorLamp       -4.514         0.027          0.663          0              0              0
  37  HousePlant      -2.659         0.466          4.165          0              0              0
  38  Shelf           -0.594         0.104          0.841          0              0              0
  39  Shelf           -0.594         0.359          0.841          0              0              0
  40  SideTable       -0.594         0.018          0.841          0              0              0
  41  Sofa            -4.360         0.028          2.929          0              90             0
  42  Sofa            -2.493         0.028          0.725          0              0              0
  43  CoffeeTable     -2.648         0.019          4.058          0              270            0
  44  ArmChair        -4.446         0.017          6.450          0              90             0
  45  NorthWall
  46  SouthWall
  47  SouthWall

Plan:
STEP 1: Turn right and walk to the grey couch | STEP 2: Pick up the purple pillow that is sitting on the left couch cushion | STEP 3: Turn around and cross the room, then turn left and walk to the grey arm chair | STEP 4: Place the purple pillow on the grey arm chair | END