Task: Place 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           3.25           0.900          -0.25          0              180            0
   1  TissueBox       3.084          0.781          -1.857         0              0              0              34
   2  KeyChain        3.393          0.781          -1.768         0              0              0              34
   3  KeyChain        3.701          0.781          -1.679         0              0              0              34
   4  Book            1.374          0.596          0.722          0              0              0              21
   5  AlarmClock      3.393          0.779          -1.59          0              0              0              34
   6  AlarmClock      0.226          0.705          1.463          0              90             0              28
   7  Book            2.956          0.773          -1.499         0              4.886          0              34
   8  KeyChain        3.393          0.779          -1.322         0              0              0              34
   9  Pillow          0.463          0.638          0.408          0              101.363        0              21
  10  Pillow          0.968          0.677          0.722          0              0              0              21
  11  CreditCard      3.547          0.779          -1.500         0              0              0              34
  12  Pen             0.357          0.710          1.463          0              90             0              28
  13  Pencil          0.258          0.708          1.130          0              90             0              28
  14  TissueBox       0.226          0.706          1.296          0              90             0              28
  15  Laptop          1.577          0.594          -0.238         0              0              0              21
  16  CellPhone       0.333          0.616          -0.940         0              180            0              31
  17  AlarmClock      3.239          0.779          -1.59          0              0              0              34
  18  CD              3.641          0.047          -0.983         0              210.000        0              22
  19  Chair           3.232          0.002          -1.873         0              350.846        0
  20  Mirror          1.083          1.228          1.700          0              0              0
  21  Bed             0.898          -0.002         0.141          0              270            0
  22  GarbageCan      3.633          8.165          -0.982         0              209.052        0
  23  DeskLamp        3.681          0.785          -1.386         0              0              0
  24  DeskLamp        0.347          0.698          -0.979         0              0              0
  25  Painting        0.100          1.432          -2.053         90             270            0
  26  Window          2.270          1.547          -2.915         90             0              0
  27  LightSwitch     1.809          1.169          1.700          0              180            0
  28  SideTable       0.277          0.000          1.299          0              90             0
  29  SideTable       0.276          0.000          -1.017         0              90             0
  30  Drawer          0.328          0.624          1.299          0              90             0
  31  Drawer          0.328          0.624          -1.017         0              90             0
  32  ArmChair        0.849          -0.001         -2.141         0              66.451         0
  33  Blinds          2.299          2.525          -2.892         0              0              0
  34  Desk            3.238          0.003          -1.590         0              0              0
  35  NorthWall
  36  EastWall
  37  SouthWall
  38  WestWall

Plan:
STEP 1: Turn around and veer left to the end of the bed. | STEP 2: Pick up the maroon cushion on the bed, the one closest to you. | STEP 3: Turn left and then go ahead, veering right to the chair in the corner. | STEP 4: Place the cushion on the chair. | END