Task: Put two phones on 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           0.75           0.900          -0.25          0              270            0
   1  CellPhone       2.095          0.844          -0.877         0              0              0              32
   2  CellPhone       -0.509         0.927          -0.177         0              0              0              37
   3  Pen             -0.297         0.382          -0.285         0              0              0              36
   4  CreditCard      -0.402         0.088          -0.101         0              0              0              Floor|+00.00|
   5  CreditCard      2.170          0.097          -0.190         0              0              0              31
   6  KeyChain        2.120          0.094          -0.288         0              90             0              31
   7  KeyChain        -0.245         0.088          -0.101         0              0              0              Floor|+00.00|
   8  Book            2.238          0.844          -0.615         0              0              0              32
   9  Pillow          0.333          0.617          0.678          0              0              0              22
  10  Box             2.15           0.14           0.494          0              12.243         0
  11  Book            2.238          0.844          -0.090         0              0              0              30
  12  BasketBall      -0.235         0.120          0.166          0              0              0
  13  Pen             -0.603         0.930          -1.459         0              0              0              37
  14  Pillow          -0.148         0.617          0.971          0              0              0              22
  15  Pencil          -0.509         0.928          -1.245         0              0              0              37
  16  CellPhone       -0.603         0.927          -1.245         0              0              0              37
  17  KeyChain        2.170          0.459          -0.581         0              0              0              30
  18  CreditCard      2.095          0.842          -0.746         0              0              0              32
  19  AlarmClock      -0.320         0.925          -0.391         0              0              0              37
  20  CD              -0.402         0.088          -0.653         0              0              0              36
  21  Laptop          -0.148         0.548          1.848          0              0              0              22
  22  Bed             0.009          -0.004         1.577          0              0              0
  23  DeskLamp        -0.669         0.923          -0.062         0              90             0
  24  Painting        -0.787         1.809          -0.215         90             270            0
  25  Painting        -0.787         1.809          1.023          90             270            0
  26  Mirror          2.118          1.277          2.749          0              0              0
  27  LightSwitch     0.726          1.200          2.75           0              180            0
  28  GarbageCan      2.257          -0.008         2.603          353.970        0              0
  29  Window          0.665          1.356          -1.911         90             0              0
  30  Drawer          2.119          0.576          -0.491         4.458          270            0
  31  Drawer          2.147          0.213          -0.491         4.458          270            0
  32  SideTable       2.226          0.013          -0.492         4.458          270            0
  33  Chair           0.170          0.011          -1.214         0              261.719        0
  34  Blinds          0.695          1.983          -1.867         0              0              0
  35  Drawer          -0.079         0.513          -0.394         0              90             0
  36  Drawer          -0.079         0.226          -0.394         0              90             0
  37  Desk            -0.391         0.001          -0.811         0              90             0
  38  Drawer          -0.079         0.762          -0.394         0              90             0
  39  NorthWall
  40  EastWall
  41  SouthWall
  42  WestWall

Plan:
STEP 1: Walk forward to the table. | STEP 2: Pick up the phone. | STEP 3: Turn around and walk to the other side of the room.  Turn left at the dresser and walk toward the door.   Turn left at the middle of the bed and face the bed. | STEP 4: Put the phone on the bed. | STEP 5: Turn left and walk toward the wall.  Turn right at the wall and walk toward the desk.   | STEP 6: Pick up the phone on the desk. | STEP 7: Turn around and walk toward the wall.    Turn left at the wall and walk toward the door.  Turn left at the middle of the bed and face the bed. | STEP 8: Put the phone on the bed to the left of the other phone. | END