Task: Put two cushions on an ottoman.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.900          -3.5           0              270            0
   1  KeyChain        1.805          0.767          0.902          0              0              0              41
   2  KeyChain        -0.754         0.391          2.010          0              180            0              32
   3  RemoteControl   -0.790         0.426          0.865          0              90             0              35
   4  RemoteControl   0.774          0.469          -0.455         0              225            0              34
   5  Pillow          -0.544         0.526          1.795          0              180            0              32
   6  Box             -0.564         0.122          -2.747         0              0              0              33
   7  KeyChain        -3.348         0.784          -3.613         0              270            0              33
   8  Laptop          -3.348         0.784          -3.170         0              270            0              33
   9  Statue          -3.035         0.78           -3.752         0              0              0              33
  10  Pillow          0.438          0.603          -0.677         0              225            0              34
  11  RemoteControl   1.807          0.877          0.988          0              0              0              40
  12  Statue          1.846          0.883          1.304          0              0              0              40
  13  CreditCard      -0.683         0.425          0.990          0              90             0              35
  14  Vase            -3.348         0.790          -3.835         0              270            0              33
  15  Statue          -2.081         0.188          1.079          0              90             0              29
  16  Shelf           -0.612         0.880          -2.832         0              0              0
  17  Shelf           -0.612         1.317          -2.832         0              0              0
  18  LightSwitch     -2.599         1.254          -0.774         0              90             0
  19  GarbageCan      -1.343         0.015          -4.825         0              0              0
  20  HousePlant      0.506          1.097          2.235          0              0              0
  21  Painting        -0.509         1.742          2.404          90             0              0
  22  FloorLamp       1.712          0.001          0.374          0              0              0
  23  Painting        -5.0           1.626          -3.548         90             270            0
  24  Television      -2.258         1.245          0.755          0              90             0
  25  Shelf           -2.238         0.474          0.396          0              90             0
  26  Shelf           -2.238         0.273          0.396          0              90             0
  27  TVStand         -2.244         -0.000         0.762          0              90             0
  28  Shelf           -2.238         0.302          1.130          0              90             0
  29  Shelf           -2.238         0.442          0.764          0              90             0
  30  Shelf           -2.238         0.597          1.130          0              90             0
  31  Shelf           -2.238         0.643          0.396          0              90             0
  32  ArmChair        -0.559         0.000          1.951          0              180            0
  33  DiningTable     -3.101         0.000          -3.613         0              270            0
  34  Sofa            0.880          0.007          -0.591         0              315            0
  35  Ottoman         -0.576         0.008          1.052          0              180            0
  36  Chair           -3.501         0.002          -3.716         0              90             0
  37  Chair           -3.182         0.002          -2.813         0              165.000        0
  38  Chair           -3.130         0.002          -4.418         0              345.001        0
  39  Chair           -2.686         0.002          -3.301         0              285.000        0
  40  SideTable       1.825          0.000          1.092          0              270            0
  41  Drawer          1.761          0.774          1.092          0              270            0
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: Turn around and walk straight, then veer right to the front of the couch. | STEP 2: Pick up the yellow and black cushion. | STEP 3: Turn left to the ottoman. | STEP 4: Place the cushion on the ottoman. | STEP 5: Move left and forward to face the left side of the chair. | STEP 6: Pick up the yellow cushion on the chair. | STEP 7: Walk back to the front of the ottoman. | STEP 8: Place the cushion on the ottoman to the left of the first cushion. | END