Task: To put the plate and cell phone on the table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.5            0.900          -1.5           0              270            0
   1  Plate           0.250          0.339          0.018          0              0              0              42
   2  Newspaper       -1.809         0.591          0.208          0              0              0              39
   3  Newspaper       -1.964         0.595          0.031          0              0              0              39
   4  Statue          0.003          0.345          0.144          0              0              0              42
   5  Statue          0.332          0.345          0.271          0              90             0              42
   6  KeyChain        1.689          0.706          -0.646         0              270            0              30
   7  KeyChain        -1.809         0.597          0.031          0              0              0              39
   8  Box             3.685          0.724          -1.708         0              180            0              38
   9  Box             -0.221         0.122          -2.044         0              0              0              42
  10  Newspaper       1.416          0.480          0.194          0              0              0              36
  11  CreditCard      1.444          0.616          -0.731         0              270            0              31
  12  Vase            0.167          0.340          0.777          0              0              0              42
  13  KeyChain        1.597          0.616          -0.791         0              90             0              31
  14  Plate           -1.819         0.097          1.061          0              0              0              43
  15  Laptop          1.354          0.480          0.980          0              0              0              36
  16  CellPhone       -1.964         0.597          0.919          0              0              0              39
  17  RemoteControl   0.414          0.337          0.524          0              0              0              42
  18  Pillow          1.435          0.515          -0.125         0              0              0              36
  19  Vase            -1.810         0.349          0.564          0              0              0              44
  20  Statue          0.167          0.345          0.397          0              0              0              42
  21  ArmChair        -1.761         0.0            -1.488         0              240.000        0
  22  Television      -2.035         1.081          0.555          0              90             0
  23  LightSwitch     2.099          1.353          -0.828         0              90             0
  24  HousePlant      -0.804         0.000          -2.187         0              0              0
  25  FloorLamp       1.689          0.002          1.776          0              90             0
  26  Painting        1.983          1.585          0.326          90             270            0
  27  GarbageCan      -1.891         -0.029         -0.409         0              0              0
  28  Window          2.775          1.281          -2.018         90             180            0
  29  Window          -0.013         1.289          -2.450         90             180            0
  30  SideTable       1.566          0.000          -0.689         0              180            0
  31  Drawer          1.566          0.624          -0.741         0              180            0
  32  Shelf           -0.147         0.172          1.925          0              0              0
  33  Shelf           -0.147         0.552          1.925          0              0              0
  34  Shelf           -0.147         0.880          1.924          0              0              0
  35  ShelvingUnit    -0.147         0.006          1.924          0              0              0
  36  Sofa            1.556          -0.004         0.424          0              270            0
  37  Shelf           0.167          0.104          0.200          0              270            0
  38  DiningTable     3.583          0.000          -1.164         0              270            0
  39  TVStand         -1.965         0.000          0.563          0              270            0
  40  Shelf           -1.964         0.082          0.563          0              270            0
  41  Shelf           -1.964         0.333          0.563          0              270            0
  42  CoffeeTable     0.167          0.001          0.216          0              270            0
  43
  44
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: Take two steps forward, then turn right and walk to the end of the couch, then turn left and walk across the room, then turn right to face the table.  | STEP 2: Pick up the cell phone that is underneath the television on the table.  | STEP 3: Turn left and walk across the room, then turn right and walk to the end of the coffee table, then turn right to face the table.  | STEP 4: Place the cell phone on the blue plate that is on the table.  | STEP 5: Pick up the blue plate with the cell phone on it.  | STEP 6: Turn left and walk across the room, then turn left again and take three steps, then turn to the left to face the black table.  | STEP 7: Place the plate with the cell phone on it on the table.  | END