Task: Place a pillow 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          0.906          1.5            0              270            0
   1  TissueBox       -0.253         0.766          2.528          0              270            0              45
   2  Watch           -1.969         0.198          2.757          0              0              0              38
   3  Statue          -1.816         0.205          2.528          0              0              0              38
   4  Newspaper       -1.063         0.379          0.641          0              0              0              39
   5  Newspaper       -2.371         0.421          4.491          0              0              0              48
   6  KeyChain        -0.253         0.765          2.378          0              270            0              45
   7  KeyChain        -0.468         0.184          2.777          0              0              0              43
   8  CreditCard      -0.328         0.761          2.228          0              270            0              45
   9  CreditCard      -1.969         0.195          2.872          0              0              0              38
  10  Laptop          -0.403         0.76           2.828          0              0              0              45
  11  Laptop          -2.865         0.417          4.412          0              0              0              48
  12  Box             -2.111         0.293          2.930          0              0              0              38
  13  CreditCard      -0.495         0.485          2.259          0              270            0              42
  14  TissueBox       -0.478         0.766          2.378          0              270            0              45
  15  Laptop          -4.503         0.417          2.146          0              270            0              47
  16  Vase            -2.880         1.518          0.144          0              0              0
  17  RemoteControl   -0.328         0.763          3.128          0              270            0              45
  18  Pillow          -4.503         0.484          1.406          0              270            0              47
  19  KeyChain        -4.479         0.512          3.344          0              0              0              36
  20  Watch           -1.740         0.195          2.413          0              180            0              38
  21  Newspaper       -0.293         0.061          4.778          0              90             0              28
  22  Statue          -0.270         0.191          2.645          0              270            0              43
  23  Statue          -0.465         0.193          2.363          0              270            0              44
  24  Curtains        -1.030         2.113          0.0            0              0              0
  25  Curtains        -3.927         2.113          0.0            0              0              0
  26  HousePlant      -3.127         1.507          0.118          0              0              0
  27  Television      0.0            1.376          2.661          0              270            0
  28  GarbageCan      -0.227         0.005          4.778          0              0              0
  29  DeskLamp        -4.658         0.508          3.318          0              270            0
  30  Painting        -2.507         1.817          0.108          90             0              0
  31  FloorLamp       -4.596         0.006          0.399          0              65.211         0
  32  LightSwitch     -3.233         1.343          5.0            0              180            0
  33  Window          -1.011         1.391          0.029          90             180            0
  34  Window          -3.900         1.391          0.029          90             180            0
  35  Drawer          -4.433         0.473          3.344          0              90             0
  36  SideTable       -4.612         0.009          3.346          0              90             0
  37  Chair           -4.572         0.005          3.862          0              113.899        0
  38  CoffeeTable     -1.972         0.002          2.615          0              270            0
  39  ArmChair        -0.875         0.005          0.566          0              0              0
  40  Shelf           -0.340         0.480          3.046          0              270            0
  41  Shelf           -0.340         0.649          3.046          0              270            0
  42  Shelf           -0.340         0.603          2.312          0              270            0
  43  Shelf           -0.340         0.448          2.678          0              270            0
  44  Shelf           -0.340         0.308          2.312          0              270            0
  45  TVStand         -0.335         0.005          2.679          0              270            0
  46  Shelf           -0.340         0.279          3.046          0              270            0
  47  Sofa            -4.566         0.009          1.880          0              90             0
  48  Sofa            -2.124         0.009          4.558          0              180            0
  49  NorthWall
  50  SouthWall
  51  SouthWall

Plan:
STEP 1: Walk ahead to the couch. | STEP 2: Pick up the pillow on the couch. | STEP 3: Turn around and walk to the wall, then face the chair on the right. | STEP 4: Place the pillow on the chair cushion. | END