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           -2.5           0.920          2.5            0              0              0
   1  Plate           -0.319         0.285          5.997          0              270            0              28
   2  Plate           -0.476         0.285          6.492          0              270            0              28
   3  WateringCan     -2.770         0.448          4.501          0              0              0              44
   4  WateringCan     -2.280         0.450          4.279          0              0              0              44
   5  KeyChain        -4.136         0.456          6.731          0              0              0              45
   6  KeyChain        -2.191         0.537          0.793          0              180            0              43
   7  Box             -2.402         0.571          4.501          0              180            0              44
   8  Laptop          -2.494         0.538          0.793          0              0              0              43
   9  Box             -4.049         0.666          2.929          0              90             0              42
  10  Plate           -0.240         0.285          5.503          0              270            0              28
  11  Vase            -0.600         1.462          5.742          0              270            0              27
  12  WateringCan     -2.402         0.448          3.836          0              0              0              44
  13  Newspaper       -0.319         0.286          6.739          0              270            0              28
  14  Vase            -0.585         1.452          6.434          0              0              0              27
  15  KeyChain        -0.750         0.617          0.997          0              270            0              41
  16  Pillow          -1.578         0.608          0.667          0              0              0              43
  17  Statue          -0.476         0.286          6.244          0              270            0              28
  18  RemoteControl   -0.437         0.617          0.997          0              0              0              41
  19  CreditCard      -4.279         0.536          3.534          0              90             0              42
  20  Statue          -2.893         0.457          4.058          0              0              0              44
  21  Laptop          -4.342         0.523          2.224          0              32.685         0              42
  22  Statue          -0.240         0.287          6.244          0              270            0              28
  23  Curtains        -2.827         2.473          0.039          357.605        0              0
  24  Curtains        -2.184         2.473          0.039          357.605        0              0
  25  Curtains        -0.046         2.474          2.633          0              0              357.064
  26  DeskLamp        -0.484         0.612          0.691          0              0              1.144
  27  Shelf           -0.391         1.452          5.953          0              270            0
  28  Shelf           -0.398         0.270          5.961          0              270            0
  29  Television      -0.75          1.661          3.936          0              270            0
  30  GarbageCan      -0.525         -0.009         2.822          0              0              0
  31  Painting        -2.670         1.574          7.000          90             180            0
  32  Bowl            -2.400         0.464          3.442          0              0              0
  33  LightSwitch     -5.0           1.246          5.857          0              90             0
  34  Window          -1.373         1.565          0.008          90             180            0
  35  Window          -0.014         1.567          1.496          90             270            0
  36  Window          -3.726         1.565          0.008          90             180            0
  37  FloorLamp       -4.514         0.027          0.663          0              0              0
  38  HousePlant      -2.659         0.466          4.165          0              0              0
  39  Shelf           -0.594         0.104          0.841          0              0              0
  40  Shelf           -0.594         0.359          0.841          0              0              0
  41  SideTable       -0.594         0.018          0.841          0              0              0
  42  Sofa            -4.360         0.028          2.929          0              90             0
  43  Sofa            -2.493         0.028          0.725          0              0              0
  44  CoffeeTable     -2.648         0.019          4.058          0              270            0
  45  ArmChair        -4.446         0.017          6.450          0              90             0
  46  NorthWall
  47  SouthWall
  48  SouthWall

Plan:
STEP 1: Turn around and head to the grey couch in front of you | STEP 2: Pick up the purple pillow that is sitting on the left couch cushion | STEP 3: Turn around and cross the room, take a left and walk to the grey arm chair | STEP 4: Place the pillow on the grey arm chair, to the right of the keys that are also sitting on the arm chair | END