Task: To put the pillow on the chair.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           3.0            0.900          -0.25          0              180            0
   1  CellPhone       3.547          0.777          -1.768         0              0              0              34
   2  CreditCard      3.547          0.779          -1.500         0              0              0              34
   3  KeyChain        3.393          0.779          -1.59          0              0              0              34
   4  KeyChain        0.694          0.441          -1.948         0              330.000        0              32
   5  AlarmClock      3.547          0.779          -1.322         0              0              0              34
   6  Laptop          1.577          0.594          -0.430         0              0              0              21
   7  Book            1.374          0.596          -0.046         0              0              0              21
   8  KeyChain        0.324          0.707          1.047          0              90             0              28
   9  Pillow          0.463          0.638          0.408          0              101.363        0              21
  10  Pillow          0.535          0.638          -0.119         0              279.121        0              21
  11  CreditCard      0.160          0.704          1.463          0              90             0              28
  12  Pen             3.641          0.053          -0.983         0              210.000        0              22
  13  Pencil          3.084          0.782          -1.59          0              0              0              34
  14  TissueBox       3.084          0.779          -1.857         0              0              0              34
  15  Laptop          1.374          0.594          0.530          0              0              0              21
  16  CellPhone       0.333          0.615          -0.787         0              180            0              31
  17  AlarmClock      0.226          0.704          1.296          0              90             0              28
  18  CD              0.333          0.614          1.376          0              180            0              30
  19  Chair           3.232          0.002          -1.873         0              350.846        0
  20  Mirror          1.083          1.228          1.700          0              0              0
  21  Bed             0.898          -0.002         0.141          0              270            0
  22  GarbageCan      3.633          8.165          -0.982         0              209.052        0
  23  DeskLamp        3.681          0.785          -1.386         0              0              0
  24  DeskLamp        0.347          0.698          -0.979         0              0              0
  25  Painting        0.100          1.432          -2.053         90             270            0
  26  Window          2.270          1.547          -2.915         90             0              0
  27  LightSwitch     1.809          1.169          1.700          0              180            0
  28  SideTable       0.277          0.000          1.299          0              90             0
  29  SideTable       0.276          0.000          -1.017         0              90             0
  30  Drawer          0.328          0.624          1.299          0              90             0
  31  Drawer          0.328          0.624          -1.017         0              90             0
  32  ArmChair        0.849          -0.001         -2.141         0              66.451         0
  33  Blinds          2.299          2.525          -2.892         0              0              0
  34  Desk            3.238          0.003          -1.590         0              0              0
  35  NorthWall
  36  EastWall
  37  SouthWall
  38  WestWall

Plan:
STEP 1: Walk to the table, then turn right and walk across the room, then turn right to face the bed.  | STEP 2: Pick up the pillow that is closest to the edge of the bed.  | STEP 3: Turn around and walk to the chair.  | STEP 4: Place the pillow on the chair.  | END