Task: Put two pillows on the sofa.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -5.75          0.901          1.25           0              180            0
   1  TissueBox       -4.673         0.205          4.459          0              90             0              57
   2  Newspaper       -5.534         1.045          0.173          0              0              0              36
   3  Statue          -4.505         1.117          4.490          0              90             0              54
   4  Watch           -1.185         0.593          0.258          0              0              0              44
   5  Watch           -3.864         1.108          4.687          0              90             0              54
   6  KeyChain        -5.364         1.039          0.504          0              0              0              36
   7  Box             -4.223         0.421          4.342          0              180            0              51
   8  Box             -3.863         1.332          4.490          0              90             0              54
   9  Pillow          -1.584         0.668          4.211          0              0              0              48
  10  Box             -3.570         0.425          4.587          0              0              0              52
  11  Watch           -4.184         1.111          4.391          0              90             0              49
  12  Pillow          -2.031         0.668          4.421          0              0              0              48
  13  TissueBox       -3.706         0.205          4.395          0              90             0              52
  14  Newspaper       -1.097         1.597          0.376          0              0              0              41
  15  CreditCard      -5.194         1.038          0.173          0              0              0              36
  16  KeyChain        -1.835         0.590          4.211          0              0              0              48
  17  CellPhone       -0.258         0.593          1.010          0              270            0              38
  18  Statue          -2.351         0.039          0.369          0              90             0              37
  19  Laptop          -3.393         1.104          4.492          0              191.867        0              54
  20  RemoteControl   -2.085         0.592          4.211          0              0              0              48
  21  Vase            -2.351         0.037          0.160          0              90             0              37
  22  DeskLamp        -4.649         1.051          0.268          0              0              0
  23  DeskLamp        -2.992         1.107          4.522          0              0              0
  24  FloorLamp       -0.650         0.007          4.431          0              0              0
  25  FloorLamp       -5.607         0.007          4.641          0              0              0
  26  Shelf           -5.237         1.776          0.070          0              0              0
  27  Shelf           -5.238         1.968          0.085          0              0              0
  28  Shelf           -5.242         1.391          0.086          0              0              0
  29  Shelf           -5.241         1.582          0.065          0              0              0
  30  LightSwitch     -6.002         1.353          3.404          0              90             0
  31  GarbageCan      -5.794         -0.033         4.073          0              90             0
  32  Painting        -6.017         1.802          4.177          90             270            0
  33  HousePlant      -3.966         1.625          0.135          0              315            0
  34  Television      -3.355         0.833          0.027          0              0              0
  35  Drawer          -5.024         0.903          0.370          0              0              0
  36  SideTable       -5.024         0.008          0.267          0              0              0
  37  Safe            -2.298         5.778          0.268          0              90             0
  38  Shelf           -0.253         0.781          1.058          0              270            0
  39  Shelf           -0.283         0.274          1.066          0              270            0
  40  Shelf           -1.224         1.288          0.270          0              0              0
  41  Shelf           -1.218         1.810          0.275          0              0              0
  42  Shelf           -0.280         1.810          1.057          0              270            0
  43  Shelf           -1.218         0.274          0.262          0              0              0
  44  Shelf           -1.223         0.782          0.237          0              0              0
  45  Shelf           -0.280         1.288          1.055          0              270            0
  46  ShelvingUnit    -0.268         0.004          1.067          0              270            0
  47  ShelvingUnit    -1.218         0.004          0.244          0              0              0
  48  ArmChair        -2.027         0.001          4.422          0              178.692        0
  49  Drawer          -4.329         1.014          4.311          0              180            0
  50  Drawer          -3.750         1.014          4.311          0              180            0
  51  Cabinet         -4.049         0.561          4.212          0              180            0
  52  Cabinet         -4.032         0.561          4.212          0              180            0
  53  Cabinet         -2.884         0.561          4.212          0              180            0
  54  Dresser         -4.041         -0.000         4.589          0              180            0
  55  Drawer          -4.916         1.014          4.311          0              180            0
  56  Drawer          -3.166         1.014          4.311          0              180            0
  57  Cabinet         -5.196         0.561          4.212          0              180            0
  58  Sofa            -0.705         -0.002         2.753          0              270            0
  59  NorthWall
  60  SouthWall
  61  SouthWall

Plan:
STEP 1: Turn left, go straight, turn left, to face the blue chair. | STEP 2: Pick up the left most pillow on the blue chair. | STEP 3: Turn around, move forward, then turn left to face the sofa. | STEP 4: Put the pillow on the center of the sofa. | STEP 5: Turn left to return to the blue chair. | STEP 6: Pick up the pillow on the blue chair. | STEP 7: Turn around, move forward, then turn left to face the sofa. | STEP 8: Put the pillow on the right cushion of the sofa. | END