Task: Take two cushions and place them on the gray sofa.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.75           0.900          1.25           0              180            0
   1  TissueBox       3.239          0.779          -1.322         0              0              0              39
   2  CellPhone       2.776          0.777          -1.322         0              0              0              39
   3  CellPhone       0.291          0.705          1.296          0              90             0              33
   4  CreditCard      3.701          0.777          -1.500         0              0              0              39
   5  CreditCard      3.547          0.779          -1.322         0              0              0              39
   6  KeyChain        0.841          0.434          -1.863         0              330.000        0              37
   7  Book            0.766          0.596          -0.430         0              0              0              26
   8  Pillow          0.968          0.677          0.338          0              0              0              26
   9  Pillow          1.171          0.677          -0.430         0              0              0              26
  10  AlarmClock      3.701          0.779          -1.768         0              0              0              39
  11  AlarmClock      2.776          0.779          -1.411         0              0              0              39
  12  Book            1.171          0.596          0.722          0              0              0              26
  13  KeyChain        0.357          0.706          1.047          0              90             0              33
  14  Pillow          0.463          0.638          0.408          0              101.363        0              26
  15  Pillow          1.374          0.677          0.338          0              0              0              26
  16  CreditCard      0.355          0.705          -1.271         0              180            0              34
  17  Pen             2.930          0.783          -1.768         0              0              0              39
  18  Pencil          3.641          0.052          -0.983         0              210.000        0              27
  19  TissueBox       0.303          0.698          -0.783         0              0              0              34
  20  Laptop          3.452          0.773          -1.667         0              210.000        0              39
  21  CellPhone       3.084          0.779          -1.679         0              0              0              39
  22  AlarmClock      3.084          0.778          -1.857         0              0              0              39
  23  CD              0.352          0.614          -0.940         0              180            0              36
  24  Chair           3.232          0.002          -1.873         0              350.846        0
  25  Mirror          1.083          1.228          1.700          0              0              0
  26  Bed             0.898          -0.002         0.141          0              270            0
  27  GarbageCan      3.633          8.165          -0.982         0              209.052        0
  28  DeskLamp        3.681          0.785          -1.386         0              0              0
  29  DeskLamp        0.347          0.698          -0.979         0              0              0
  30  Painting        0.100          1.432          -2.053         90             270            0
  31  Window          2.270          1.547          -2.915         90             0              0
  32  LightSwitch     1.809          1.169          1.700          0              180            0
  33  SideTable       0.277          0.000          1.299          0              90             0
  34  SideTable       0.276          0.000          -1.017         0              90             0
  35  Drawer          0.328          0.624          1.299          0              90             0
  36  Drawer          0.328          0.624          -1.017         0              90             0
  37  ArmChair        0.849          -0.001         -2.141         0              66.451         0
  38  Blinds          2.299          2.525          -2.892         0              0              0
  39  Desk            3.238          0.003          -1.590         0              0              0
  40  NorthWall
  41  EastWall
  42  SouthWall
  43  WestWall

Plan:
STEP 1: Walk forward towards the table, turn right, walk forward, turn right to be on the side of the bed. | STEP 2: Pick up the purple cushion on the bed in front of you. | STEP 3: Turn around walk to the gray sofa. | STEP 4: Place the purple cushion on the sofa. | STEP 5: Turn around and head towards the door, turn left at the foot of the bed. | STEP 6: Pick up the purple cushion closest to the bottom of the bed. | STEP 7: Turn left and return to the gray sofa. | STEP 8: Place the cushion to the right on the cushion that is already on the sofa. | END