Task: To move two pillows from the couch to 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           -4.0           0.901          2.75           0              270            0
   1  Watch           -4.744         0.985          2.310          0              0              0              35
   2  KeyChain        0.219          0.708          4.578          0              90             0              43
   3  KeyChain        -2.532         0.453          2.840          0              0              0              38
   4  CreditCard      -1.752         0.517          1.025          0              0              0              41
   5  CreditCard      0.132          0.707          4.598          0              0              0              43
   6  Box             -4.778         0.405          2.337          0              270            0              37
   7  Pillow          -2.465         0.602          0.843          0              0              0              41
   8  Box             -2.180         0.670          2.428          0              350.086        0              38
   9  WateringCan     -0.277         -0.000         4.860          0              0              0              Floor|+00.38|
  10  CreditCard      -4.608         0.885          2.436          0              0              0              30
  11  KeyChain        -2.227         0.457          0.752          0              0              0              41
  12  Pillow          -3.294         0.624          0.801          0              0              338.090        41
  13  Laptop          -4.873         0.981          3.44           0              83.878         0              35
  14  RemoteControl   -3.177         0.459          0.843          0              0              0              41
  15  Watch           -5.007         0.988          1.742          0              270            0              35
  16  Statue          -2.152         0.554          2.744          0              0              0              38
  17  Curtains        -2.535         2.596          0.111          0              0              0
  18  FloorLamp       -4.661         0.009          0.422          0              0              0
  19  Television      -4.883         1.472          2.434          0              90             0
  20  GarbageCan      -4.810         -0.032         1.236          0              180            0
  21  Painting        -0.293         1.820          0.016          90             0              0
  22  LightSwitch     -1.016         1.243          5.0            0              180            0
  23  Painting        -5.118         1.480          4.396          90             270            0
  24  Painting        -5.118         1.480          0.656          90             270            0
  25  Window          -1.715         1.554          0.006          90             180            0
  26  Window          -3.244         1.554          0.006          90             180            0
  27  DeskLamp        0.015          0.704          4.676          0              0              0
  28  HousePlant      -4.824         0.984          1.572          0              0              0
  29  Drawer          -4.497         0.901          2.854          0              90             0
  30  Drawer          -4.497         0.901          2.339          0              90             0
  31  Cabinet         -4.409         0.498          2.603          0              90             0
  32  Cabinet         -4.409         0.498          3.622          0              90             0
  33  Drawer          -4.497         0.901          3.372          0              90             0
  34  Cabinet         -4.409         0.498          1.569          0              90             0
  35  Dresser         -4.744         4.321          2.595          0              90             0
  36  Drawer          -4.497         0.901          1.818          0              90             0
  37  Cabinet         -4.409         0.498          2.588          0              90             0
  38  CoffeeTable     -2.405         -0.000         2.546          0              0              0
  39  ArmChair        -0.298         0.002          3.310          0              270            0
  40  ArmChair        -0.298         0.002          1.713          0              270            0
  41  Sofa            -2.464         -0.002         0.700          0              0              0
  42  Chair           -4.735         0.011          4.609          1.215          90             0
  43  SideTable       -0.041         0.002          4.619          0              0              0
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: Turn around and walk to the table, then turn right and walk to face the right end of the front of the couch. | STEP 2: Pick up the pillow resting on the right end of the couch. | STEP 3: Turn left and walk forward to face the arm chair. | STEP 4: Place the pillow on the left arm of the arm chair. | STEP 5: Turn around and step forward and turn left to face the pillow on the middle of the couch. | STEP 6: Pick up the pillow on the middle of the couch. | STEP 7: Turn left and walk forward to face the arm chair. | STEP 8: Place the pillow on the right arm of the arm chair. | END