Task: move phone from dresser to the bed

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.949          0.25           0              90             0
   1  Vase            2.803          0.990          -1.774         0              270            0              35
   2  CD              -0.163         1.107          3.171          0              180            0              43
   3  CD              1.855          0.183          -1.835         0              270            0              30
   4  CellPhone       -0.160         0.784          3.171          0              180            0              42
   5  CellPhone       1.950          0.988          -2.212         0              270            0              35
   6  Book            2.545          0.610          -0.172         0              0              0              20
   7  Book            -0.904         0.785          -0.548         0              0              0              56
   8  KeyChain        -0.069         1.109          3.143          0              180            0              43
   9  CreditCard      -0.885         0.174          0.074          0              0              0              49
  10  Pen             -1.037         0.789          -0.548         0              0              0              56
  11  Pencil          1.666          0.992          -1.862         0              270            0              35
  12  Laptop          2.217          0.607          0.068          0              0              0              20
  13  Vase            2.235          0.993          -2.037         0              270            0              35
  14  AlarmClock      2.803          0.989          -2.037         0              270            0              35
  15  Pillow          2.533          0.631          1.264          0              0              0              20
  16  Pillow          1.966          0.631          1.226          0              0              0              20
  17  CellPhone       -0.350         1.108          3.198          0              180            0              43
  18  CD              0.116          0.783          3.198          0              180            0              42
  19  Vase            -1.037         0.788          0.291          0              0              0              56
  20  Bed             2.217          0.050          0.585          0              0              0
  21  GarbageCan      -0.978         0.048          -1.172         0              0              0
  22  Painting        2.990          1.592          1.567          90             0              0
  23  Painting        1.524          1.592          1.567          90             0              0
  24  Mirror          -1.190         1.417          -0.223         0              270            0
  25  LightSwitch     0.709          1.332          1.636          0              180            0
  26  Window          -2.629         1.460          2.891          90             270            0
  27  Window          -2.629         1.460          4.084          90             270            0
  28  DeskLamp        3.589          0.717          1.408          0              0              0
  29  Drawer          2.490          0.949          -1.703         0              0              0
  30  Cabinet         2.226          0.547          -1.615         0              0              0
  31  Drawer          1.975          0.949          -1.703         0              0              0
  32  Cabinet         1.207          0.547          -1.615         0              0              0
  33  Drawer          1.457          0.949          -1.703         0              0              0
  34  Cabinet         3.260          0.547          -1.615         0              0              0
  35  Dresser         2.234          0.048          -1.950         0              0              0
  36  Drawer          3.011          0.949          -1.703         0              0              0
  37  Cabinet         2.241          0.547          -1.615         0              0              0
  38  Shelf           -0.163         1.461          3.219          0              180            0
  39  Drawer          -0.161         0.242          3.166          0              180            0
  40  ShelvingUnit    -0.161         0.050          3.212          0              180            0
  41  Drawer          -0.161         0.562          3.168          0              180            0
  42  Shelf           -0.162         0.922          3.164          0              180            0
  43  Shelf           -0.162         1.241          3.163          0              180            0
  44  Blinds          -2.550         2.486          2.911          0              90             0
  45  Blinds          -2.550         2.486          4.107          0              90             0
  46  Drawer          -0.833         0.217          -0.336         0              90             0
  47  Drawer          -0.833         0.217          0.486          0              90             0
  48  Drawer          -0.833         0.628          -0.747         0              90             0
  49  Drawer          -0.833         0.217          0.075          0              90             0
  50  Drawer          -0.833         0.628          0.486          0              90             0
  51  Drawer          -0.833         0.217          -0.747         0              90             0
  52  Drawer          -0.833         0.423          -0.336         0              90             0
  53  Drawer          -0.833         0.423          0.075          0              90             0
  54  Drawer          -0.833         0.423          0.486          0              90             0
  55  Drawer          -0.833         0.423          -0.747         0              90             0
  56  Dresser         -0.934         0.050          -0.129         0              90             0
  57  Drawer          -0.833         0.628          0.075          0              90             0
  58  Drawer          -0.833         0.628          -0.336         0              90             0
  59  Drawer          3.454          0.212          1.262          0              180            0
  60  SideTable       3.455          0.046          1.328          0              180            0
  61  Drawer          3.454          0.504          1.262          0              180            0
  62  NorthWall
  63  EastWall
  64  SouthWall
  65  WestWall

Plan:
STEP 1: walk towards the bed, turn right, walk towards dresser, turn left, turn right to face dresser | STEP 2: pick up the phone that is on the dresser | STEP 3: turn around, walk forward, turn right at bed, walk forward, turn right to face bed | STEP 4: put phone on to the bed | END