Task: Put two pillows 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           2.25           0.900          0.5            0              270            0
   1  TissueBox       3.239          0.781          -1.500         0              0              0              40
   2  CD              0.228          0.705          -0.933         0              180            0              35
   3  CD              0.333          0.615          -1.246         0              180            0              37
   4  CellPhone       0.766          0.596          0.146          0              0              0              27
   5  Pen             0.357          0.711          1.130          0              90             0              34
   6  Pencil          2.776          0.782          -1.500         0              0              0              40
   7  CreditCard      0.324          0.705          1.380          0              90             0              34
   8  CreditCard      0.355          0.705          -1.102         0              180            0              35
   9  KeyChain        3.239          0.779          -1.768         0              0              0              40
  10  KeyChain        0.313          0.617          -1.093         0              270            0              37
  11  Book            0.563          0.596          0.530          0              0              0              27
  12  AlarmClock      3.393          0.779          -1.322         0              0              0              40
  13  Book            2.956          0.773          -1.499         0              4.886          0              40
  14  KeyChain        1.193          0.434          -2.303         0              330.000        0              38
  15  Pillow          1.171          0.677          0.530          0              0              0              27
  16  Pillow          1.374          0.677          0.145          0              0              0              27
  17  CreditCard      2.776          0.779          -1.679         0              0              0              40
  18  Pen             3.084          0.785          -1.857         0              0              0              40
  19  Pencil          0.357          0.708          1.296          0              90             0              34
  20  TissueBox       3.239          0.781          -1.322         0              0              0              40
  21  Laptop          0.968          0.594          -0.430         0              0              0              27
  22  CellPhone       0.258          0.705          1.047          0              90             0              34
  23  AlarmClock      3.701          0.779          -1.768         0              0              0              40
  24  CD              0.258          0.705          1.546          0              90             0              34
  25  Chair           3.232          0.002          -1.873         0              350.846        0
  26  Mirror          1.083          1.228          1.700          0              0              0
  27  Bed             0.898          -0.002         0.141          0              270            0
  28  GarbageCan      3.633          8.165          -0.982         0              209.052        0
  29  DeskLamp        3.681          0.785          -1.386         0              0              0
  30  DeskLamp        0.347          0.698          -0.979         0              0              0
  31  Painting        0.100          1.432          -2.053         90             270            0
  32  Window          2.270          1.547          -2.915         90             0              0
  33  LightSwitch     1.809          1.169          1.700          0              180            0
  34  SideTable       0.277          0.000          1.299          0              90             0
  35  SideTable       0.276          0.000          -1.017         0              90             0
  36  Drawer          0.328          0.624          1.299          0              90             0
  37  Drawer          0.328          0.624          -1.017         0              90             0
  38  ArmChair        0.849          -0.001         -2.141         0              66.451         0
  39  Blinds          2.299          2.525          -2.892         0              0              0
  40  Desk            3.238          0.003          -1.590         0              0              0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: Turn to the left, go forward, turn to face the bed.  | STEP 2: Pick up the leftmost purple pillow on the bed.  | STEP 3: Turn to the left, go to the wall, turn to the right, go to the chair.  | STEP 4: Put the pillow on the left side of the chair cushion.  | STEP 5: Turn around, go to the bed, turn right, go to the end of the bed, turn left, go to the far side of the bed.   | STEP 6: Pick up the purple pillow that is on the bed.  | STEP 7: Turn left, go to the wall, turn right, go to the chair.  | STEP 8: Put the pillow on the chair to the right of the other pillow.  | END