Task: Moving two phones from a desk to a bed.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.25           0.900          -0.75          0              180            0
   1  CD              0.052          0.119          -1.634         0              180            0              30
   2  CellPhone       1.716          0.779          -1.649         0              0              0              36
   3  Pen             1.517          0.556          -1.324         0              0              0              38
   4  CreditCard      1.686          0.748          -1.357         0              0              0              33
   5  CreditCard      1.489          1.138          -1.684         0              0              0              41
   6  KeyChain        0.002          0.377          -1.697         0              90             0              29
   7  AlarmClock      2.343          0.748          -1.357         0              0              0              33
   8  AlarmClock      1.964          1.138          -1.614         0              0              0              40
   9  Laptop          -0.642         0.505          -0.872         0              90             0              22
  10  Book            2.058          0.740          -1.386         0              270            0              33
  11  Pencil          1.603          1.142          -1.579         0              0              0              41
  12  BasketBall      1.144          0.120          -1.656         0              23.931         0              Floor|-00.24|
  13  Laptop          -0.794         0.495          -0.303         0              61.899         0              22
  14  Pen             0.289          0.652          -1.625         0              0              0              31
  15  KeyChain        0.153          0.647          -1.625         0              0              0              31
  16  CreditCard      0.303          0.377          -1.634         0              180            0              29
  17  CellPhone       2.508          0.749          -1.433         0              0              0              33
  18  CD              2.688          0.049          1.303          0              0              0              24
  19  AlarmClock      1.964          0.778          -1.719         0              0              0              37
  20  Pillow          -1.154         0.54           -1.607         0              13.257         0              22
  21  Chair           2.161          0.008          -1.129         0              256.825        0
  22  Bed             -0.809         0.010          -0.891         0              180            0
  23  DeskLamp        0.047          0.668          -1.761         0              0              0
  24  GarbageCan      2.657          -0.021         1.275          0              0              0
  25  Mirror          2.821          1.764          -0.068         0              90             0
  26  Window          -1.677         1.402          0.365          90             270            0
  27  LightSwitch     -0.606         1.253          1.435          0              180            0
  28  Shelf           2.025          1.440          -1.730         0              0              0
  29  Drawer          0.187          0.455          -1.577         0              0              0
  30  Drawer          0.187          0.163          -1.577         0              0              0
  31  SideTable       0.186          -0.001         -1.643         0              0              0
  32  Dumbbell        1.576          0.083          -1.563         0              0              0
  33  Desk            2.017          0.000          -1.578         0              0              0
  34  GarbageBag      0.806          0.318          1.143          270            186.178        83.264
  35  Shelf           1.570          0.415          -1.563         0              0              0
  36  Shelf           1.612          0.945          -1.744         0              0              0
  37  Shelf           2.265          0.941          -1.722         0              0              0
  38  Shelf           1.572          0.630          -1.563         0              0              0
  39  Shelf           1.569          0.172          -1.563         0              0              0
  40  Shelf           2.267          1.248          -1.722         0              0              0
  41  Shelf           1.614          1.252          -1.745         0              0              0
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: Back up and turn to the left to walk over to the desk.  | STEP 2: Pick up the phone from the desk.  | STEP 3: Turn to the right and walk over to the bed in the corner of the room.  | STEP 4: Place the phone on the bed in front of the laptop on the left.  | STEP 5: Turn around to the right and walk back to the desk.  | STEP 6: Pick up the phone beside the fan on the desk.  | STEP 7: Turn around to the right and walk back to the bed.  | STEP 8: Place the phone to the left of the phone already on the bed.  | END