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           -1.0           0.900          -1.25          0              90             0
   1  Bowl            -1.743         0.760          -1.526         0              90             0              46
   2  KeyChain        -1.624         0.172          -1.056         0              90             0              48
   3  RemoteControl   0.336          0.478          -1.182         0              180            0              42
   4  RemoteControl   -0.087         0.553          0.814          0              180            0              39
   5  CreditCard      0.148          0.760          -2.247         0              0              0              34
   6  CreditCard      -0.307         0.545          1.271          0              180            0              39
   7  Box             0.133          0.688          0.814          0              180            0              39
   8  Box             -0.265         0.609          -1.182         0              180            0              42
   9  Pillow          0.794          0.609          0.906          0              180            0              39
  10  Box             2.513          0.144          -1.093         0              318.382        0              52
  11  Bowl            -1.792         0.171          -0.950         0              90             0              48
  12  KeyChain        2.236          0.509          -2.225         0              180            0              52
  13  Vase            -1.588         0.168          -0.531         0              0              0              47
  14  Statue          -1.616         0.758          -0.350         0              270            0              46
  15  Pillow          -0.495         0.593          0.955          0              0              0              39
  16  Laptop          -1.732         0.753          -0.696         0              73.105         0              46
  17  Vase            -1.808         1.615          -2.597         0              0              0              43
  18  Statue          0.145          0.551          -1.129         0              0              0              42
  19  RemoteControl   -0.001         0.180          -2.521         0              0              0              36
  20  Vase            0.009          0.168          -2.264         0              0              0              36
  21  CreditCard      2.151          0.511          -2.225         0              270            0              52
  22  Vase            0.487          0.478          -1.245         0              180            0              42
  23  Statue          -1.696         0.753          -1.294         0              74.999         0              46
  24  Painting        0.172          1.781          1.934          0              0              0
  25  HousePlant      -1.646         0.755          -1.792         0              0              0
  26  LightSwitch     1.406          1.294          1.651          0              180            0
  27  Television      -0.035         1.239          -2.439         0              0              0
  28  FloorLamp       -1.573         -0.003         1.302          0              0              0
  29  GarbageCan      0.742          -0.000         -2.522         0              270            0
  30  Window          -0.816         1.534          -2.719         90             0              0
  31  Window          0.791          1.534          -2.718         90             0              0
  32  Shelf           0.340          0.474          -2.377         0              0              0
  33  Shelf           0.341          0.273          -2.377         0              0              0
  34  TVStand         -0.025         -0.000         -2.385         0              0              0
  35  Shelf           -0.393         0.302          -2.382         0              0              0
  36  Shelf           -0.026         0.442          -2.380         0              0              0
  37  Shelf           -0.393         0.597          -2.382         0              0              0
  38  Shelf           0.340          0.643          -2.377         0              0              0
  39  Sofa            0.124          0.008          1.032          0              180            0
  40  Cabinet         -1.827         0.729          -2.357         0              90             0
  41  Shelf           -1.827         2.041          -2.356         0              90             0
  42  CoffeeTable     0.017          -0.000         -1.108         0              180            0
  43  Shelf           -1.827         1.744          -2.356         0              90             0
  44  Shelf           -1.827         1.452          -2.356         0              90             0
  45  Shelf           -1.730         0.278          -1.635         0              90             0
  46  TVStand         -1.733         -0.000         -1.058         0              90             0
  47  Shelf           -1.730         0.302          -0.479         0              90             0
  48  Shelf           -1.732         0.446          -1.056         0              90             0
  49  Shelf           -1.731         0.596          -0.478         0              90             0
  50  Shelf           -1.733         0.648          -1.635         0              90             0
  51  Shelf           -1.730         0.477          -1.635         0              90             0
  52  ArmChair        2.344          0.002          -2.041         0              270            0
  53  ShelvingUnit    -1.847         0.001          -2.357         0              90             0
  54  NorthWall
  55  EastWall
  56  SouthWall
  57  WestWall

Plan:
STEP 1: Turn left and walk to the couch ahead. | STEP 2: Pick up the blue pillow from the left side of the couch. | STEP 3: Turn right, head to the wall to the right and turn left to face the blue chair. | STEP 4: Put the pillow on the cushion of the chair to the left of the keys. | END