Task: Pick up the orange pillow and put it on the black chair.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.906          2.0            0              90             0
   1  TissueBox       -1.816         0.197          2.413          0              0              0              38
   2  Watch           -0.553         0.762          3.128          0              270            0              45
   3  Watch           -0.178         0.765          2.378          0              90             0              45
   4  Newspaper       -0.875         0.379          0.712          0              0              0              39
   5  Newspaper       -0.499         0.427          3.046          0              270            0              40
   6  KeyChain        -4.522         0.506          3.388          0              0              358.880        36
   7  KeyChain        -0.553         0.765          2.978          0              270            0              45
   8  CreditCard      -2.121         0.198          2.643          0              0              0              38
   9  CreditCard      -0.328         0.761          2.828          0              270            0              45
  10  RemoteControl   -0.253         0.763          2.228          0              270            0              45
  11  Pillow          -4.503         0.484          2.393          0              270            0              47
  12  Box             -0.328         0.864          2.678          0              0              0              45
  13  CreditCard      -1.631         0.396          4.254          0              0              0              48
  14  TissueBox       -0.403         0.766          2.978          0              270            0              45
  15  Laptop          -4.424         0.417          1.653          0              270            0              47
  16  Vase            -2.880         1.518          0.144          0              0              0
  17  RemoteControl   -1.384         0.420          4.649          0              0              0              48
  18  Pillow          -2.371         0.484          4.412          0              0              0              48
  19  KeyChain        -2.865         0.397          4.412          0              0              0              48
  20  Watch           -4.610         0.512          3.476          0              0              0              36
  21  Newspaper       -2.121         0.197          2.872          0              0              0              38
  22  Statue          -0.178         0.769          2.978          0              270            0              45
  23  Statue          -1.869         1.518          0.145          0              0              0              Floor|+00.00|
  24  Curtains        -1.030         2.113          0.0            0              0              0
  25  Curtains        -3.927         2.113          0.0            0              0              0
  26  HousePlant      -3.127         1.507          0.118          0              0              0
  27  Television      0.0            1.376          2.661          0              270            0
  28  GarbageCan      -0.227         0.005          4.778          0              0              0
  29  DeskLamp        -4.658         0.508          3.318          0              270            0
  30  Painting        -2.507         1.817          0.108          90             0              0
  31  FloorLamp       -4.596         0.006          0.399          0              65.211         0
  32  LightSwitch     -3.233         1.343          5.0            0              180            0
  33  Window          -1.011         1.391          0.029          90             180            0
  34  Window          -3.900         1.391          0.029          90             180            0
  35  Drawer          -4.433         0.473          3.344          0              90             0
  36  SideTable       -4.612         0.009          3.346          0              90             0
  37  Chair           -4.572         0.005          3.862          0              113.899        0
  38  CoffeeTable     -1.972         0.002          2.615          0              270            0
  39  ArmChair        -0.875         0.005          0.566          0              0              0
  40  Shelf           -0.340         0.480          3.046          0              270            0
  41  Shelf           -0.340         0.649          3.046          0              270            0
  42  Shelf           -0.340         0.603          2.312          0              270            0
  43  Shelf           -0.340         0.448          2.678          0              270            0
  44  Shelf           -0.340         0.308          2.312          0              270            0
  45  TVStand         -0.335         0.005          2.679          0              270            0
  46  Shelf           -0.340         0.279          3.046          0              270            0
  47  Sofa            -4.566         0.009          1.880          0              90             0
  48  Sofa            -2.124         0.009          4.558          0              180            0
  49  NorthWall
  50  SouthWall
  51  SouthWall

Plan:
STEP 1: Circle right around the table until you get to the black couch with an orange pillow on it. | STEP 2: Pick up the orange pillow on the black couch. | STEP 3: Turn left and go to the black chair in the corner. | STEP 4: Put the orange pillow on the black chair. | END