Task: drop the phone on the shelf

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.25           0.900          0.75           0              0              0
   1  CD              1.522          0.748          -1.433         0              0              0              32
   2  CellPhone       -1.142         0.508          -1.115         0              0              0              21
   3  CreditCard      2.329          1.391          -1.586         0              0              0              39
   4  KeyChain        0.203          0.120          -1.655         0              180            0              29
   5  KeyChain        0.289          0.647          -1.823         0              0              0              30
   6  Book            -1.309         0.507          -0.386         0              0              0              21
   7  Laptop          -1.142         0.505          -0.872         0              0              0              21
   8  Laptop          -0.642         0.505          -1.115         0              0              0              21
   9  Book            2.058          0.740          -1.386         0              270            0              32
  10  Pencil          1.608          0.311          -1.324         0              0              0              34
  11  BasketBall      1.144          0.120          -1.656         0              23.931         0              Floor|-00.24|
  12  Laptop          -0.794         0.495          -0.303         0              61.899         0              21
  13  Pen             2.508          0.754          -1.395         0              0              0              32
  14  KeyChain        0.153          0.377          -1.655         0              180            0              28
  15  CreditCard      2.353          0.778          -1.719         0              0              0              32
  16  CellPhone       1.716          0.779          -1.684         0              0              0              35
  17  CD              1.964          0.777          -1.719         0              0              0              36
  18  AlarmClock      2.158          1.138          -1.614         0              0              0              39
  19  Pillow          -1.154         0.54           -1.607         0              13.257         0              21
  20  Chair           2.161          0.008          -1.129         0              256.825        0
  21  Bed             -0.809         0.010          -0.891         0              180            0
  22  DeskLamp        0.047          0.668          -1.761         0              0              0
  23  GarbageCan      2.657          -0.021         1.275          0              0              0
  24  Mirror          2.821          1.764          -0.068         0              90             0
  25  Window          -1.677         1.402          0.365          90             270            0
  26  LightSwitch     -0.606         1.253          1.435          0              180            0
  27  Shelf           2.025          1.440          -1.730         0              0              0
  28  Drawer          0.187          0.455          -1.577         0              0              0
  29  Drawer          0.187          0.163          -1.577         0              0              0
  30  SideTable       0.186          -0.001         -1.643         0              0              0
  31  Dumbbell        1.576          0.083          -1.563         0              0              0
  32  Desk            2.017          0.000          -1.578         0              0              0
  33  GarbageBag      0.806          0.318          1.143          270            186.178        83.264
  34  Shelf           1.570          0.415          -1.563         0              0              0
  35  Shelf           1.612          0.945          -1.744         0              0              0
  36  Shelf           2.265          0.941          -1.722         0              0              0
  37  Shelf           1.572          0.630          -1.563         0              0              0
  38  Shelf           1.569          0.172          -1.563         0              0              0
  39  Shelf           2.267          1.248          -1.722         0              0              0
  40  Shelf           1.614          1.252          -1.745         0              0              0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: turn around and head to the bed | STEP 2: pick up the phone from the bed | STEP 3: turn around and head to the shelf | STEP 4: drop the phone on the shelf | END