Task: Moving the pillow from one place to another

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.900          -4.25          0              0              0
   1  KeyChain        -0.754         0.391          1.867          0              180            0              31
   2  CreditCard      -3.348         0.786          -3.170         0              270            0              32
   3  CreditCard      -3.100         0.783          -3.392         0              270            0              32
   4  Box             -2.977         0.901          -4.057         0              0              0              32
   5  Box             -0.564         0.122          -2.747         0              0              0              32
   6  KeyChain        1.846          0.878          1.304          0              90             0              39
   7  Laptop          -2.915         0.779          -3.09          0              23.890         0              32
   8  Statue          -3.035         0.78           -3.752         0              0              0              32
   9  Pillow          1.036          0.581          -0.213         0              325.391        0              33
  10  RemoteControl   -2.730         0.784          -4.057         0              270            0              32
  11  Statue          -3.471         0.790          -2.948         0              270            0              32
  12  CreditCard      -0.501         1.324          -3.029         0              0              0              16
  13  Vase            -2.400         0.761          0.764          0              90             0              26
  14  Statue          -3.224         0.796          -2.948         0              270            0              32
  15  Shelf           -0.612         0.880          -2.832         0              0              0
  16  Shelf           -0.612         1.317          -2.832         0              0              0
  17  LightSwitch     -2.599         1.254          -0.774         0              90             0
  18  GarbageCan      -1.343         0.015          -4.825         0              0              0
  19  HousePlant      0.506          1.097          2.235          0              0              0
  20  Painting        -0.509         1.742          2.404          90             0              0
  21  FloorLamp       1.712          0.001          0.374          0              0              0
  22  Painting        -5.0           1.626          -3.548         90             270            0
  23  Television      -2.258         1.245          0.755          0              90             0
  24  Shelf           -2.238         0.474          0.396          0              90             0
  25  Shelf           -2.238         0.273          0.396          0              90             0
  26  TVStand         -2.244         -0.000         0.762          0              90             0
  27  Shelf           -2.238         0.302          1.130          0              90             0
  28  Shelf           -2.238         0.442          0.764          0              90             0
  29  Shelf           -2.238         0.597          1.130          0              90             0
  30  Shelf           -2.238         0.643          0.396          0              90             0
  31  ArmChair        -0.559         0.000          1.951          0              180            0
  32  DiningTable     -3.101         0.000          -3.613         0              270            0
  33  Sofa            0.880          0.007          -0.591         0              315            0
  34  Ottoman         -0.576         0.008          1.052          0              180            0
  35  Chair           -3.501         0.002          -3.716         0              90             0
  36  Chair           -3.182         0.002          -2.813         0              165.000        0
  37  Chair           -3.130         0.002          -4.418         0              345.001        0
  38  Chair           -2.686         0.002          -3.301         0              285.000        0
  39  SideTable       1.825          0.000          1.092          0              270            0
  40  Drawer          1.761          0.774          1.092          0              270            0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: Walk forward to the sofa. | STEP 2: Pick up the pillow from the sofa. | STEP 3: Turn around and walk towards the chair. | STEP 4: Place the pillow on the chair. | END