Task: move pillow from bed to 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            0.900          -1.0           0              90             0
   1  CD              0.333          0.614          -0.940         0              180            0              38
   2  CD              0.980          0.435          -2.104         0              330.000        0              39
   3  CellPhone       0.968          0.596          0.530          0              0              0              28
   4  CellPhone       1.577          0.596          0.145          0              0              0              28
   5  Pen             3.084          0.783          -1.679         0              0              0              41
   6  Pencil          3.084          0.782          -1.857         0              0              0              41
   7  Pencil          0.226          0.709          1.213          0              90             0              35
   8  CreditCard      0.324          0.705          1.296          0              90             0              35
   9  CreditCard      2.776          0.779          -1.768         0              0              0              41
  10  KeyChain        0.887          0.434          -1.943         0              330.000        0              39
  11  Book            1.374          0.596          -0.238         0              0              0              28
  12  Laptop          0.766          0.594          0.722          0              180            0              28
  13  Laptop          1.171          0.594          0.338          0              0              0              28
  14  Book            0.968          0.596          -0.046         0              0              0              28
  15  KeyChain        0.352          0.617          1.147          0              0              0              37
  16  Pillow          0.463          0.638          0.408          0              101.363        0              28
  17  Pillow          0.535          0.638          -0.119         0              279.121        0              28
  18  CreditCard      0.333          0.615          -0.787         0              180            0              38
  19  Pen             2.930          0.785          -1.59          0              0              0              41
  20  Pencil          3.625          0.052          -1.011         0              210.000        0              29
  21  TissueBox       2.776          0.781          -1.322         0              0              0              41
  22  Laptop          3.452          0.773          -1.667         0              210.000        0              41
  23  CellPhone       0.547          0.437          -2.033         0              330.000        0              39
  24  AlarmClock      2.776          0.779          -1.59          0              0              0              41
  25  CD              0.193          0.704          1.380          0              90             0              35
  26  Chair           3.232          0.002          -1.873         0              350.846        0
  27  Mirror          1.083          1.228          1.700          0              0              0
  28  Bed             0.898          -0.002         0.141          0              270            0
  29  GarbageCan      3.633          8.165          -0.982         0              209.052        0
  30  DeskLamp        3.681          0.785          -1.386         0              0              0
  31  DeskLamp        0.347          0.698          -0.979         0              0              0
  32  Painting        0.100          1.432          -2.053         90             270            0
  33  Window          2.270          1.547          -2.915         90             0              0
  34  LightSwitch     1.809          1.169          1.700          0              180            0
  35  SideTable       0.277          0.000          1.299          0              90             0
  36  SideTable       0.276          0.000          -1.017         0              90             0
  37  Drawer          0.328          0.624          1.299          0              90             0
  38  Drawer          0.328          0.624          -1.017         0              90             0
  39  ArmChair        0.849          -0.001         -2.141         0              66.451         0
  40  Blinds          2.299          2.525          -2.892         0              0              0
  41  Desk            3.238          0.003          -1.590         0              0              0
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: turn around, walk to the table, turn right to face the bed | STEP 2: pick up the pillow that is on the bed | STEP 3: turn right, take a few steps, turn right, walk forward, turn right to face chair | STEP 4: put the pillow on the chair | END