Task: Put the pillows on the arm chair

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.901          4.25           0              180            0
   1  Statue          -4.656         1.086          2.879          0              0              0              38
   2  Statue          -4.569         1.089          3.447          0              0              0              38
   3  Watch           -0.129         0.707          4.598          0              0              0              46
   4  Watch           -2.785         0.453          2.455          0              0              0              41
   5  KeyChain        -1.990         0.457          0.662          0              180            0              44
   6  KeyChain        -0.152         0.468          3.172          0              0              0              42
   7  RemoteControl   -1.990         0.459          0.843          0              0              0              44
   8  CreditCard      -0.593         0.537          3.172          0              0              0              42
   9  Box             -4.660         0.409          1.817          0              90             0              37
  10  Pillow          -2.702         0.597          0.843          0              0              0              44
  11  Box             -2.180         0.670          2.428          0              350.086        0              41
  12  WateringCan     -0.277         -0.000         4.860          0              0              0              Floor|+00.38|
  13  CreditCard      0.219          0.707          4.639          0              0              0              46
  14  KeyChain        -4.919         0.989          2.879          0              0              0              38
  15  Pillow          -3.294         0.624          0.801          0              0              338.090        44
  16  Laptop          -4.873         0.981          3.44           0              83.878         0              38
  17  RemoteControl   -2.152         0.455          2.648          0              0              0              41
  18  Watch           -4.744         0.988          2.310          0              0              0              38
  19  Statue          -2.279         0.554          2.840          0              0              0              41
  20  Curtains        -2.535         2.596          0.111          0              0              0
  21  FloorLamp       -4.661         0.009          0.422          0              0              0
  22  Television      -4.883         1.472          2.434          0              90             0
  23  GarbageCan      -4.810         -0.032         1.236          0              180            0
  24  Painting        -0.293         1.820          0.016          90             0              0
  25  LightSwitch     -1.016         1.243          5.0            0              180            0
  26  Painting        -5.118         1.480          4.396          90             270            0
  27  Painting        -5.118         1.480          0.656          90             270            0
  28  Window          -1.715         1.554          0.006          90             180            0
  29  Window          -3.244         1.554          0.006          90             180            0
  30  DeskLamp        0.015          0.704          4.676          0              0              0
  31  HousePlant      -4.824         0.984          1.572          0              0              0
  32  Drawer          -4.497         0.901          2.854          0              90             0
  33  Drawer          -4.497         0.901          2.339          0              90             0
  34  Cabinet         -4.409         0.498          2.603          0              90             0
  35  Cabinet         -4.409         0.498          3.622          0              90             0
  36  Drawer          -4.497         0.901          3.372          0              90             0
  37  Cabinet         -4.409         0.498          1.569          0              90             0
  38  Dresser         -4.744         4.321          2.595          0              90             0
  39  Drawer          -4.497         0.901          1.818          0              90             0
  40  Cabinet         -4.409         0.498          2.588          0              90             0
  41  CoffeeTable     -2.405         -0.000         2.546          0              0              0
  42  ArmChair        -0.298         0.002          3.310          0              270            0
  43  ArmChair        -0.298         0.002          1.713          0              270            0
  44  Sofa            -2.464         -0.002         0.700          0              0              0
  45  Chair           -4.735         0.011          4.609          1.215          90             0
  46  SideTable       -0.041         0.002          4.619          0              0              0
  47  NorthWall
  48  EastWall
  49  SouthWall
  50  WestWall

Plan:
STEP 1: Walk forward and around the coffee table to the sofa | STEP 2: Pick up the left most pillow from the sofa | STEP 3: Turn left and walk forward to the right most arm chair | STEP 4: Put the pillow down on the arm chair | STEP 5: Turn right and walk back down to the right side of the sofa | STEP 6: Pick up the pillow from the sofa | STEP 7: Turn left and walk back over to the right most arm chair | STEP 8: Put the pillow on the chair to the right of the other pillow | END