Task: Pick up the pillows on the sofa, move them to the ottoman.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.900          0.5            0              180            0
   1  Vase            1.767          0.881          1.304          0              0              0              44
   2  Vase            -3.471         0.787          -4.279         0              270            0              37
   3  KeyChain        -0.544         0.391          1.938          0              270            0              36
   4  KeyChain        0.882          0.468          -0.004         0              225            0              38
   5  CreditCard      -2.374         0.179          0.797          0              90             0              33
   6  CreditCard      -0.601         1.324          -2.832         0              0              0              21
   7  RemoteControl   1.688          0.879          0.882          0              0              0              44
   8  RemoteControl   -2.730         0.784          -3.614         0              270            0              37
   9  Pillow          0.495          0.603          -0.734         0              225            0              38
  10  Box             -0.564         0.122          -2.747         0              0              0              37
  11  KeyChain        -0.473         0.391          1.867          0              180            0              36
  12  Laptop          -2.915         0.779          -3.09          0              23.890         0              37
  13  Statue          -3.035         0.78           -3.752         0              0              0              37
  14  Pillow          1.036          0.581          -0.213         0              325.391        0              38
  15  RemoteControl   -2.977         0.787          -3.392         0              270            0              37
  16  Statue          -3.224         0.790          -3.392         0              270            0              37
  17  CreditCard      0.609          0.467          -0.848         0              225            0              38
  18  Vase            -3.471         0.787          -3.835         0              270            0              37
  19  Statue          -2.400         0.767          0.914          0              270            0              31
  20  Shelf           -0.612         0.880          -2.832         0              0              0
  21  Shelf           -0.612         1.317          -2.832         0              0              0
  22  LightSwitch     -2.599         1.254          -0.774         0              90             0
  23  GarbageCan      -1.343         0.015          -4.825         0              0              0
  24  HousePlant      0.506          1.097          2.235          0              0              0
  25  Painting        -0.509         1.742          2.404          90             0              0
  26  FloorLamp       1.712          0.001          0.374          0              0              0
  27  Painting        -5.0           1.626          -3.548         90             270            0
  28  Television      -2.258         1.245          0.755          0              90             0
  29  Shelf           -2.238         0.474          0.396          0              90             0
  30  Shelf           -2.238         0.273          0.396          0              90             0
  31  TVStand         -2.244         -0.000         0.762          0              90             0
  32  Shelf           -2.238         0.302          1.130          0              90             0
  33  Shelf           -2.238         0.442          0.764          0              90             0
  34  Shelf           -2.238         0.597          1.130          0              90             0
  35  Shelf           -2.238         0.643          0.396          0              90             0
  36  ArmChair        -0.559         0.000          1.951          0              180            0
  37  DiningTable     -3.101         0.000          -3.613         0              270            0
  38  Sofa            0.880          0.007          -0.591         0              315            0
  39  Ottoman         -0.576         0.008          1.052          0              180            0
  40  Chair           -3.501         0.002          -3.716         0              90             0
  41  Chair           -3.182         0.002          -2.813         0              165.000        0
  42  Chair           -3.130         0.002          -4.418         0              345.001        0
  43  Chair           -2.686         0.002          -3.301         0              285.000        0
  44  SideTable       1.825          0.000          1.092          0              270            0
  45  Drawer          1.761          0.774          1.092          0              270            0
  46  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: Go to the brown sofa on your left.  | STEP 2: Pick up the yellow plaid pillow on the right cushion as you are facing the sofa. | STEP 3: Go to the chair and ottoman set on your left. | STEP 4: Place the yellow plaid pillow on the ottoman parallel to the short end of the ottoman, slightly right of center of the ottoman. | STEP 5: Turn to your right, go to the brown sofa. | STEP 6: Pick up the yellow plaid pillow on the left cushion of the sofa. | STEP 7: Turn to your left, go to the chair and ottoman set. | STEP 8: Place the yellow plaid pillow on the ottoman to the left and parallel to the first pillow. | END