Task: stand a pillow up on a sofa

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.75          0.998          -2.5           0              0              0
   1  Plate           -4.094         0.888          -1.385         0              0              0              33
   2  Pen             -1.486         0.459          -0.658         0              0              0              34
   3  Pen             -1.486         0.459          -0.817         0              0              0              34
   4  KeyChain        -0.557         0.525          1.085          0              0              0              38
   5  KeyChain        -1.222         0.454          -0.498         0              0              0              34
   6  CreditCard      0.748          0.304          -1.865         0              0              0              30
   7  RemoteControl   -0.695         0.455          -0.897         0              0              0              34
   8  Laptop          -1.222         0.452          -0.738         0              0              0              34
   9  Laptop          -1.254         0.523          0.897          0              0              0              38
  10  Box             -2.863         1.03           -0.958         0              0              0              33
  11  Pillow          0.629          0.482          -1.667         0              0              0              30
  12  CreditCard      0.577          0.304          -1.782         0              0              0              30
  13  Plate           -3.851         0.875          -1.011         0              0              0              33
  14  Laptop          -0.193         0.966          -2.505         0              0              0              30
  15  RemoteControl   -0.557         0.526          0.897          0              0              0              38
  16  Vase            -3.493         0.874          -1.182         0              0              0              33
  17  Statue          0.257          0.965          -2.518         0              0              0              42
  18  KeyChain        -0.827         0.454          -0.658         0              0              0              34
  19  Pen             -1.923         0.183          -3.006         0              225            0              25
  20  Curtains        -3.013         1.557          -3.082         0              0              0
  21  Television      -1.063         0.939          -2.439         0              0              0
  22  HousePlant      0.753          0.855          -2.467         0              215.129        0
  23  HousePlant      0.739          0.855          -1.159         0              310.776        0
  24  FloorLamp       -2.186         0.096          1.111          0              0              0
  25  GarbageCan      -1.946         0.097          -2.899         0              216.243        0
  26  Painting        -4.326         1.817          -1.223         90             270            0
  27  Window          0.010          1.087          0.001          90             270            0
  28  Window          -2.983         1.544          -3.220         90             180            0
  29  LightSwitch     -3.907         1.371          1.386          0              180            0
  30  ArmChair        0.662          0.103          -1.781         0              270            0
  31  Stool           0.765          0.108          -1.148         0              0              0
  32  Stool           0.765          0.108          -2.460         0              35.380         0
  33  DiningTable     -3.428         0.099          -1.188         0              0              0
  34  CoffeeTable     -1.090         0.097          -0.737         0              0              0
  35  Chair           -3.793         0.098          -0.841         0              164.999        0
  36  Chair           -3.073         0.098          -1.515         0              11.313         0
  37  Chair           -3.810         0.098          -1.549         0              352.857        0
  38  Sofa            -0.905         0.099          0.959          0              180            0
  39  CoffeeTable     -1.046         0.096          -2.473         0              180            0
  40  Chair           -3.068         0.098          -0.882         0              180            0
  41  Drawer          -0.031         0.872          -2.487         0              0              0
  42  SideTable       -0.030         0.097          -2.552         0              0              0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: go to the green chair | STEP 2: pick up the square pillow from the chair | STEP 3: take the pillow to the sofa | STEP 4: stand the pillow up on against the back of the sofa | END