Task: Secure a phone inside a safe.

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            0.900          -0.5           0              0              0
   1  Bowl            -1.283         1.824          -0.778         0              0              0              31
   2  Bowl            -0.376         0.794          -1.568         0              0              0              45
   3  CD              -1.256         1.458          -0.778         0              0              0              30
   4  Pencil          0.150          0.684          1.212          0              0              0              37
   5  CreditCard      0.368          0.676          -1.635         0              0              0              44
   6  KeyChain        1.588          0.039          0.595          0              0              0              41
   7  KeyChain        1.745          0.039          0.381          0              0              0              41
   8  Book            -1.194         0.794          -0.600         0              0              0              45
   9  Book            -0.964         0.794          -1.568         0              0              0              45
  10  Laptop          0.953          0.574          -0.649         0              0              0              46
  11  Book            1.676          0.578          -1.373         0              0              0              46
  12  Pencil          -1.112         0.796          -1.568         0              0              0              45
  13  Laptop          0.953          0.574          -0.166         0              0              0              24
  14  Pen             -1.194         0.798          -1.671         0              90             0              45
  15  TennisRacket    -1.226         0.301          -0.069         15.000         180            180
  16  TeddyBear       1.629          0.557          -1.064         0              118.287        0              46
  17  Pillow          1.215          0.641          -1.663         0              0              0              24
  18  CellPhone       -0.720         0.838          -2.038         0              0              0              28
  19  KeyChain        -1.052         0.793          -0.385         0              0              0              45
  20  AlarmClock      -0.981         0.794          -1.243         0              0              0              45
  21  CreditCard      0.072          0.680          1.348          0              0              0              37
  22  CD              -0.981         0.792          -0.600         0              0              0              45
  23  Bowl            -1.283         1.824          -1.344         0              0              0              32
  24  Bed             1.242          -0.001         -0.881         0              180            0
  25  LightSwitch     0.010          1.315          1.499          0              180            0
  26  GarbageCan      0.840          0.007          1.337          0              180            2.168
  27  HousePlant      -0.083         0.828          -2.045         0              0              0
  28  Shelf           -0.469         0.828          -2.038         0              0              0
  29  Shelf           -1.286         1.451          -1.343         0              0              0
  30  Shelf           -1.286         1.451          -0.602         0              0              0
  31  Shelf           -1.286         1.814          -0.602         0              0              0
  32  Shelf           -1.286         1.814          -1.343         0              0              0
  33  Painting        1.111          1.628          -1.865         90             0              0
  34  DeskLamp        0.473          0.669          1.350          0              0              0
  35  Mirror          -1.383         1.565          0.512          0              270            0
  36  Window          -0.472         1.396          -2.252         90             0              0
  37  SideTable       0.304          -0.001         1.225          0              180            0
  38  Drawer          0.304          0.165          1.159          0              180            0
  39  Drawer          0.304          0.457          1.159          0              180            0
  40  Blinds          -0.453         2.156          -2.242         0              0              0
  41  Safe            1.623          5.960          0.448          0              270            0
  42  Chair           -0.683         0.000          -1.326         0              217.223        0
  43  Drawer          0.416          0.532          -1.553         0              0              0
  44  SideTable       0.413          0.000          -1.684         0              0              0
  45  Desk            -0.788         0.000          -1.032         0              90             0
  46
  47  NorthWall
  48  EastWall
  49  SouthWall
  50  WestWall

Plan:
STEP 1: Turn around, move to the window shelf, turn right to face the side of the table in front of the window shelf.  | STEP 2: Pick up the phone on the window shelf.  | STEP 3: Turn right, go to the lamp past the bed, turn right, go to the safe on the other side of the bed. | STEP 4: Open up the safe and put the phone inside, close the safe.  | END