Task: Put two pillows on the couch.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.5           0.901          3.5            0              270            0
   1  TissueBox       -4.085         0.201          4.589          0              90             0              49
   2  TissueBox       -3.222         1.109          4.786          0              90             0              52
   3  Newspaper       -4.184         1.117          4.786          0              90             0              52
   4  Newspaper       -3.864         1.114          4.687          0              90             0              52
   5  KeyChain        -1.093         0.593          0.112          0              0              0              42
   6  RemoteControl   -1.035         0.611          2.224          0              0              0              56
   7  Pillow          -1.584         0.668          4.384          0              0              0              46
   8  Box             -1.275         0.295          0.312          0              0              0              41
   9  Watch           -1.189         1.592          0.428          0              0              0              39
  10  Pillow          -2.031         0.668          4.421          0              0              0              46
  11  TissueBox       -4.505         1.112          4.588          0              90             0              52
  12  Newspaper       -5.534         1.045          0.239          0              0              0              34
  13  CreditCard      -0.952         0.608          2.224          0              0              0              56
  14  KeyChain        -2.137         0.034          0.160          0              270            0              35
  15  CellPhone       -5.024         1.039          0.173          0              0              0              34
  16  Statue          -4.184         1.117          4.391          0              90             0              52
  17  Laptop          -3.393         1.104          4.492          0              191.867        0              52
  18  RemoteControl   -4.826         1.110          4.292          0              90             0              53
  19  Vase            -2.351         0.037          0.212          0              90             0              35
  20  DeskLamp        -4.649         1.051          0.268          0              0              0
  21  DeskLamp        -2.992         1.107          4.522          0              0              0
  22  FloorLamp       -0.650         0.007          4.431          0              0              0
  23  FloorLamp       -5.607         0.007          4.641          0              0              0
  24  Shelf           -5.237         1.776          0.070          0              0              0
  25  Shelf           -5.238         1.968          0.085          0              0              0
  26  Shelf           -5.242         1.391          0.086          0              0              0
  27  Shelf           -5.241         1.582          0.065          0              0              0
  28  LightSwitch     -6.002         1.353          3.404          0              90             0
  29  GarbageCan      -5.794         -0.033         4.073          0              90             0
  30  Painting        -6.017         1.802          4.177          90             270            0
  31  HousePlant      -3.966         1.625          0.135          0              315            0
  32  Television      -3.355         0.833          0.027          0              0              0
  33  Drawer          -5.024         0.903          0.370          0              0              0
  34  SideTable       -5.024         0.008          0.267          0              0              0
  35  Safe            -2.298         5.778          0.268          0              90             0
  36  Shelf           -0.253         0.781          1.058          0              270            0
  37  Shelf           -0.283         0.274          1.066          0              270            0
  38  Shelf           -1.224         1.288          0.270          0              0              0
  39  Shelf           -1.218         1.810          0.275          0              0              0
  40  Shelf           -0.280         1.810          1.057          0              270            0
  41  Shelf           -1.218         0.274          0.262          0              0              0
  42  Shelf           -1.223         0.782          0.237          0              0              0
  43  Shelf           -0.280         1.288          1.055          0              270            0
  44  ShelvingUnit    -0.268         0.004          1.067          0              270            0
  45  ShelvingUnit    -1.218         0.004          0.244          0              0              0
  46  ArmChair        -2.027         0.001          4.422          0              178.692        0
  47  Drawer          -4.329         1.014          4.311          0              180            0
  48  Drawer          -3.750         1.014          4.311          0              180            0
  49  Cabinet         -4.049         0.561          4.212          0              180            0
  50  Cabinet         -4.032         0.561          4.212          0              180            0
  51  Cabinet         -2.884         0.561          4.212          0              180            0
  52  Dresser         -4.041         -0.000         4.589          0              180            0
  53  Drawer          -4.916         1.014          4.311          0              180            0
  54  Drawer          -3.166         1.014          4.311          0              180            0
  55  Cabinet         -5.196         0.561          4.212          0              180            0
  56  Sofa            -0.705         -0.002         2.753          0              270            0
  57  NorthWall
  58  SouthWall
  59  SouthWall

Plan:
STEP 1: Turn around and walk to the couch and then turn left when you get to it. | STEP 2: Pick up the pillow on the left. | STEP 3: Turn left and walk to the middle of the couch on your left and face it. | STEP 4: Put the pillow in the middle of the couch where the two cushions meet. | STEP 5: Turn left and walk to the pillow. | STEP 6: Pick up the pillow. | STEP 7: Go back to where you put the first pillow. | STEP 8: Put this pillow standing up on end at the bottom of the pillow already there and to it's right. | END