Task: Put two pillows on an armchair.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           3.0            0.900          0.75           0              180            0
   1  KeyChain        0.291          0.707          1.296          0              90             0              24
   2  Book            1.577          0.596          -0.238         0              0              0              17
   3  Book            0.968          0.596          0.530          0              0              0              17
   4  KeyChain        0.313          0.617          -1.093         0              270            0              27
   5  Pillow          0.968          0.677          -0.046         0              0              0              17
   6  Pillow          0.535          0.638          -0.119         0              279.121        0              17
   7  CreditCard      3.084          0.779          -1.322         0              0              0              30
   8  Pen             3.239          0.783          -1.322         0              0              0              30
   9  Pencil          3.084          0.784          -1.59          0              0              0              30
  10  TissueBox       3.701          0.779          -1.679         0              0              0              30
  11  Laptop          3.084          0.777          -1.768         0              0              0              30
  12  CellPhone       0.228          0.704          -1.186         0              180            0              25
  13  AlarmClock      2.930          0.778          -1.322         0              0              0              30
  14  CD              0.323          0.704          -1.102         0              180            0              25
  15  Chair           3.232          0.002          -1.873         0              350.846        0
  16  Mirror          1.083          1.228          1.700          0              0              0
  17  Bed             0.898          -0.002         0.141          0              270            0
  18  GarbageCan      3.633          8.165          -0.982         0              209.052        0
  19  DeskLamp        3.681          0.785          -1.386         0              0              0
  20  DeskLamp        0.347          0.698          -0.979         0              0              0
  21  Painting        0.100          1.432          -2.053         90             270            0
  22  Window          2.270          1.547          -2.915         90             0              0
  23  LightSwitch     1.809          1.169          1.700          0              180            0
  24  SideTable       0.277          0.000          1.299          0              90             0
  25  SideTable       0.276          0.000          -1.017         0              90             0
  26  Drawer          0.328          0.624          1.299          0              90             0
  27  Drawer          0.328          0.624          -1.017         0              90             0
  28  ArmChair        0.849          -0.001         -2.141         0              66.451         0
  29  Blinds          2.299          2.525          -2.892         0              0              0
  30  Desk            3.238          0.003          -1.590         0              0              0
  31  NorthWall
  32  EastWall
  33  SouthWall
  34  WestWall

Plan:
STEP 1: Go to table, turn right, go to the bed, turn right to face bed. | STEP 2: Pick up the right hand pillow from the bed. | STEP 3: Turn right, cross to table, turn right at table, go to wall, turn right to face armchair. | STEP 4: Put the pillow on the armchair. | STEP 5: Turn right, cross to bed, walk to head of bed, face the bed. | STEP 6: Pick up the pillow from the bed. | STEP 7: Turn right, cross to table, turn right at table, go to wall, turn right to face armchair. | STEP 8: Put pillow to the right of the other pillow on the chair. | END