Task: Drop phone in a tray and put on end table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -4.5           0.900          3.5            0              90             0
   1  Plate           -5.762         0.786          4.246          0              0              0              39
   2  Statue          -3.216         0.560          1.386          0              0              0              35
   3  Statue          -5.885         0.792          4.910          0              0              0              39
   4  Newspaper       0.922          0.550          6.382          0              0              0              36
   5  KeyChain        -1.662         0.314          2.954          0              39.022         0              38
   6  KeyChain        0.972          0.983          4.129          0              0              0              51
   7  CellPhone       0.541          0.552          6.905          0              0              0              36
   8  CellPhone       0.753          0.102          3.157          0              0              0              48
   9  CellPhone       -2.021         0.524          3.560          0              38.001         0              47
  10  CreditCard      -5.762         0.782          4.910          0              0              0              39
  11  CreditCard      -1.582         0.313          3.054          0              39.022         0              38
  12  RemoteControl   -5.269         0.783          4.689          0              0              0              39
  13  Box             -5.762         0.982          4.689          0              0              0              39
  14  CellPhone       -1.541         0.316          2.360          0              39.022         0              38
  15  WateringCan     0.829          -0.001         2.339          0              45             0              Floor|-03.10|
  16  Newspaper       0.636          0.548          6.382          0              0              0              36
  17  KeyChain        0.972          0.983          3.090          0              0              0              51
  18  Plate           -1.480         0.317          2.806          0              39.022         0              38
  19  Pillow          -2.719         0.609          2.768          0              320.647        0              47
  20  RemoteControl   -5.516         0.783          4.910          0              0              0              39
  21  CreditCard      0.909          0.982          3.714          0              0              0              51
  22  Laptop          -5.464         0.779          5.252          0              306.871        0              39
  23  Statue          -1.703         0.319          2.160          0              39.022         0              38
  24  Curtains        -1.046         3.500          2.880          0              0              0
  25  HousePlant      -3.580         0.548          1.659          0              0              0
  26  Television      0.852          1.460          3.726          357.954        270            0
  27  Painting        -3.813         1.809          1.008          90             90             0
  28  DeskLamp        0.890          0.545          6.822          0              0              0
  29  GarbageCan      -7.102         -0.044         2.295          0              90             0
  30  FloorLamp       -3.494         0.006          0.390          0              0              0
  31  LightSwitch     -5.234         1.391          7.031          0              180            0
  32  Window          -1.985         1.646          -0.009         90             180            0
  33  Window          -4.909         0.990          2.015          90             180            0
  34  Window          -5.796         1.072          1.871          90             180            0
  35  SideTable       -3.407         0.005          1.656          0              270            0
  36  SideTable       0.732          0.005          6.634          0              270            0
  37  Chair           -0.139         0.005          6.412          0              149.999        0
  38  CoffeeTable     -1.546         0.004          2.528          0              39.022         0
  39  DiningTable     -5.639         -0.003         4.910          0              270            0
  40  Chair           -3.159         0.005          0.869          0              97.469         0
  41  Chair           -5.192         0.002          4.682          0              281.219        0
  42  Chair           -5.181         0.002          5.293          0              266.218        0
  43  Chair           -6.046         0.002          4.560          0              86.218         0
  44  Chair           -5.624         0.002          5.750          0              180            0
  45  Chair           -6.036         0.002          5.235          0              93.544         0
  46  Chair           -5.580         0.002          4.099          0              357.508        0
  47  Sofa            -2.465         0.004          3.281          0              128.001        0
  48  Drawer          0.748          0.237          3.330          0              270            0
  49  Drawer          0.748          0.668          3.330          0              270            0
  50  Drawer          0.748          0.235          4.097          0              270            0
  51  Dresser         0.846          0.002          3.713          0              270            0
  52  Drawer          0.748          0.665          4.097          0              270            0
  53  NorthWall
  54  EastWall
  55  SouthWall
  56  WestWall

Plan:
STEP 1: Turn left and walk toward the wall on the other side of the room.  Turn right and walk to the other side of  the room.  Turn right and walk toward the fireplace.  At the fireplace, turn right and walk to the coffee table. | STEP 2: Pick up the phone on the coffee table. | STEP 3: Walk toward the fireplace, turn left and walk around the coffee table. | STEP 4: Put the phone on the tray on the coffee table. | STEP 5: Pick up the tray with the phone from the coffee table. | STEP 6: Walk around the coffee table, toward the fireplace, turn right until on the opposite side of the coffee table | STEP 7: Put the tray with the phone down on the end table of the couch. | END