Task: Move a pillow from a chair to an adjacent sofa.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -6.25          0.902          -4.0           0              270            0
   1  Pen             -5.418         0.487          -5.045         0              0              0              37
   2  KeyChain        -2.750         0.385          -5.025         0              0              0              40
   3  Book            -3.503         0.704          -5.141         0              0              0              39
   4  CreditCard      -2.574         0.587          -2.657         0              0              0              36
   5  CreditCard      -3.091         0.384          -4.976         0              0              0              40
   6  RemoteControl   -2.151         0.590          -2.822         0              0              0              36
   7  RemoteControl   -4.384         0.334          -1.462         0              0              0              38
   8  Box             -2.362         0.261          -1.647         0              76.161         0              Floor|-04.47|
   9  Book            -2.257         0.587          -2.326         0              0              0              36
  10  Newspaper       -3.218         0.711          -5.093         0              0              0              39
  11  Watch           -4.358         0.704          -5.141         0              0              0              39
  12  Pen             -2.574         0.592          -2.492         0              0              0              36
  13  WateringCan     -7.991         0.000          -4.629         0              296.796        0              Floor|-04.47|
  14  Pillow          -4.187         0.442          -3.520         0              90             0              33
  15  CreditCard      -2.574         0.587          -2.326         0              0              0              36
  16  Vase            -4.477         0.697          -5.076         0              0              0              39
  17  KeyChain        -4.487         0.335          -3.738         0              180            0              33
  18  Vase            -5.217         0.487          -5.171         0              0              0              37
  19  Laptop          -2.363         0.585          -1.996         0              0              0              36
  20  Statue          -2.363         0.594          -2.657         0              0              0              36
  21  Vase            -2.648         0.710          -5.093         0              0              0              39
  22  RemoteControl   -2.933         0.706          -5.046         0              0              0              39
  23  Vase            -1.927         0.482          -5.076         0              0              0              35
  24  Mirror          -3.402         2.028          0.000          0              0              0
  25  FloorLamp       -4.821         0.000          -5.118         0              0              0
  26  LightSwitch     -5.763         1.330          0.010          0              180            0
  27  GarbageCan      -0.969         -0.027         -5.058         0              0              0
  28  HousePlant      -5.629         0.478          -5.126         0              0              0
  29  Painting        -3.372         1.800          -5.392         90             180            0
  30  Television      -0.606         1.674          -2.602         0              270            0
  31  Window          -8.237         1.411          -1.509         90             270            0
  32  Window          -8.237         1.411          -4.081         90             270            0
  33  ArmChair        -4.334         0.001          -3.528         0              90             0
  34  Shelf           -2.475         0.124          -2.486         0              90             0
  35  SideTable       -2.016         0.002          -5.075         0              180            0
  36  CoffeeTable     -2.474         0.001          -2.489         0              90             0
  37  SideTable       -5.428         0.002          -5.123         0              180            0
  38  Sofa            -4.354         0.009          -2.089         0              90             0
  39  Dresser         -3.505         0.003          -5.101         0              0              0
  40  Drawer          -2.981         0.481          -5.031         0              0              0
  41  Drawer          -4.022         0.169          -5.013         0              0              0
  42  Drawer          -2.978         0.169          -5.013         0              0              0
  43  Drawer          -4.022         0.477          -5.013         0              0              0
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: Turn around and walk to the chair next to the sofa. | STEP 2: Pick up the pillow from the chair. | STEP 3: Walk to the sofa to the right of the chair. | STEP 4: Put the pillow on the middle of the sofa with it standing vertically. | END