Task: Move a red cushion from the chair to the sofa

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -6.0           0.902          -3.5           0              180            0
   1  Pen             -5.217         0.487          -5.171         0              0              0              39
   2  KeyChain        -4.230         0.338          -2.500         0              270            0              Floor|-04.47|
   3  KeyChain        -4.112         0.335          -3.738         0              90             0              35
   4  CreditCard      -4.262         0.335          -3.738         0              90             0              35
   5  RemoteControl   -4.487         0.337          -3.520         0              90             0              35
   6  RemoteControl   -2.680         0.590          -2.161         0              0              0              38
   7  Box             -4.230         0.594          -1.877         0              180            0              40
   8  Box             -2.574         0.836          -2.492         0              0              0              38
   9  Laptop          -2.363         0.585          -2.987         0              0              0              38
  10  Box             -2.362         0.261          -1.647         0              76.161         0              Floor|-04.47|
  11  Book            -2.525         0.697          -5.124         0              0              0              42
  12  Newspaper       -4.265         0.34           -2.164         0              0              0              40
  13  Watch           -3.908         0.076          -5.074         0              0              0              43
  14  Pen             -4.358         0.709          -5.188         0              0              0              41
  15  WateringCan     -7.991         0.000          -4.629         0              296.796        0              Floor|-04.47|
  16  Pillow          -4.262         0.442          -3.593         0              90             0              35
  17  CreditCard      -4.384         0.332          -2.707         0              0              0              Floor|-04.47|
  18  Vase            -4.477         0.697          -5.076         0              0              0              41
  19  KeyChain        -2.151         0.588          -2.326         0              270            0              38
  20  Vase            -4.218         0.697          -5.046         0              0              0              41
  21  Laptop          -3.218         0.701          -5.093         0              0              0              41
  22  Statue          -2.020         0.475          -5.094         0              0              0              37
  23  Vase            -3.901         0.697          -5.103         0              0              0              41
  24  RemoteControl   -2.151         0.590          -2.161         0              0              0              38
  25  Vase            -3.503         0.704          -5.093         0              0              0              41
  26  Mirror          -3.402         2.028          0.000          0              0              0
  27  FloorLamp       -4.821         0.000          -5.118         0              0              0
  28  LightSwitch     -5.763         1.330          0.010          0              180            0
  29  GarbageCan      -0.969         -0.027         -5.058         0              0              0
  30  HousePlant      -5.629         0.478          -5.126         0              0              0
  31  Painting        -3.372         1.800          -5.392         90             180            0
  32  Television      -0.606         1.674          -2.602         0              270            0
  33  Window          -8.237         1.411          -1.509         90             270            0
  34  Window          -8.237         1.411          -4.081         90             270            0
  35  ArmChair        -4.334         0.001          -3.528         0              90             0
  36  Shelf           -2.475         0.124          -2.486         0              90             0
  37  SideTable       -2.016         0.002          -5.075         0              180            0
  38  CoffeeTable     -2.474         0.001          -2.489         0              90             0
  39  SideTable       -5.428         0.002          -5.123         0              180            0
  40  Sofa            -4.354         0.009          -2.089         0              90             0
  41  Dresser         -3.505         0.003          -5.101         0              0              0
  42  Drawer          -2.981         0.481          -5.031         0              0              0
  43  Drawer          -4.022         0.169          -5.013         0              0              0
  44  Drawer          -2.978         0.169          -5.013         0              0              0
  45  Drawer          -4.022         0.477          -5.013         0              0              0
  46  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: Move towards the single grey chair that has keys sitting on top of it  | STEP 2: Pick up the red cushion on top of the chair | STEP 3: Carry the red cushion to the largest grey sofa | STEP 4: Place the red cushion to the left of the newspaper on top of the sofa | END