Task: move a phone from the bed to the desk

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.5            0.900          0.75           0              90             0
   1  CD              0.102          0.120          -1.655         0              180            0              38
   2  CD              0.253          0.376          -1.655         0              180            0              37
   3  CellPhone       -0.642         0.508          -1.115         0              0              0              30
   4  CellPhone       -1.142         0.508          -1.359         0              0              0              30
   5  CellPhone       -1.309         0.508          -1.359         0              0              0              30
   6  Pen             1.562          0.313          -1.295         0              0              0              43
   7  Pen             1.522          0.754          -1.395         0              0              0              41
   8  Pencil          2.353          1.142          -1.579         0              0              0              48
   9  Pencil          0.221          0.650          -1.585         0              0              0              39
  10  CreditCard      0.303          0.120          -1.676         0              180            0              38
  11  CreditCard      1.608          0.551          -1.366         0              0              0              46
  12  KeyChain        0.289          0.647          -1.823         0              0              0              39
  13  KeyChain        1.693          1.392          -1.624         0              0              0              49
  14  Book            -0.809         0.507          -1.602         0              0              0              30
  15  Book            -0.308         0.507          -1.602         0              0              0              30
  16  AlarmClock      1.850          0.748          -1.433         0              0              0              41
  17  AlarmClock      1.686          0.748          -1.357         0              0              0              41
  18  Book            2.058          0.740          -1.386         0              270            0              41
  19  Pencil          0.152          0.650          -1.704         0              0              0              39
  20  BasketBall      1.144          0.120          -1.656         0              23.931         0              Floor|-00.24|
  21  Laptop          -0.794         0.495          -0.303         0              61.899         0              30
  22  Pen             1.562          0.071          -1.324         0              0              0              47
  23  KeyChain        2.343          0.749          -1.395         0              0              0              41
  24  CreditCard      0.084          0.647          -1.625         0              0              0              39
  25  CellPhone       -0.308         0.508          -1.115         0              0              0              30
  26  CD              1.534          1.391          -1.624         0              0              0              49
  27  AlarmClock      2.488          1.391          -1.624         0              0              0              48
  28  Pillow          -0.975         0.588          -0.872         0              0              0              30
  29  Chair           2.161          0.008          -1.129         0              256.825        0
  30  Bed             -0.809         0.010          -0.891         0              180            0
  31  DeskLamp        0.047          0.668          -1.761         0              0              0
  32  GarbageCan      2.657          -0.021         1.275          0              0              0
  33  Mirror          2.821          1.764          -0.068         0              90             0
  34  Window          -1.677         1.402          0.365          90             270            0
  35  LightSwitch     -0.606         1.253          1.435          0              180            0
  36  Shelf           2.025          1.440          -1.730         0              0              0
  37  Drawer          0.187          0.455          -1.577         0              0              0
  38  Drawer          0.187          0.163          -1.577         0              0              0
  39  SideTable       0.186          -0.001         -1.643         0              0              0
  40  Dumbbell        1.576          0.083          -1.563         0              0              0
  41  Desk            2.017          0.000          -1.578         0              0              0
  42  GarbageBag      0.806          0.318          1.143          270            186.178        83.264
  43  Shelf           1.570          0.415          -1.563         0              0              0
  44  Shelf           1.612          0.945          -1.744         0              0              0
  45  Shelf           2.265          0.941          -1.722         0              0              0
  46  Shelf           1.572          0.630          -1.563         0              0              0
  47  Shelf           1.569          0.172          -1.563         0              0              0
  48  Shelf           2.267          1.248          -1.722         0              0              0
  49  Shelf           1.614          1.252          -1.745         0              0              0
  50  NorthWall
  51  EastWall
  52  SouthWall
  53  WestWall

Plan:
STEP 1: turn right, walk across to the desk, turn right, walk to the bed | STEP 2: pick up the phone that is on the bed | STEP 3: turn around, walk to the desk | STEP 4: put the phone on the desk | END