Task: Putting the cell phones on the bed

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.5            0.900          -0.75          0              180            0
   1  CD              1.433          1.138          -1.684         0              0              0              42
   2  CD              2.508          0.748          -1.433         0              0              0              34
   3  CellPhone       1.522          0.749          -1.357         0              0              0              34
   4  CellPhone       2.179          0.749          -1.433         0              0              0              34
   5  Pen             2.661          0.051          1.276          0              0              0              25
   6  Pencil          2.353          0.781          -1.614         0              0              0              38
   7  CreditCard      2.343          0.748          -1.472         0              0              0              34
   8  CreditCard      0.052          0.377          -1.655         0              180            0              30
   9  AlarmClock      1.653          0.065          -1.338         0              0              0              40
  10  AlarmClock      2.488          1.391          -1.661         0              0              0              41
  11  Book            -0.975         0.507          -0.872         0              0              0              23
  12  Pencil          0.289          0.650          -1.704         0              0              0              32
  13  BasketBall      1.144          0.120          -1.656         0              23.931         0              Floor|-00.24|
  14  Laptop          -0.794         0.495          -0.303         0              61.899         0              23
  15  Pen             2.343          0.754          -1.280         0              0              0              34
  16  KeyChain        1.546          0.778          -1.649         0              0              0              34
  17  CreditCard      1.562          0.551          -1.309         0              0              0              39
  18  CellPhone       1.850          0.749          -1.357         0              0              0              34
  19  CD              2.061          0.777          -1.719         0              0              0              38
  20  AlarmClock      0.152          0.646          -1.784         0              0              0              32
  21  Pillow          -1.154         0.54           -1.607         0              13.257         0              23
  22  Chair           2.161          0.008          -1.129         0              256.825        0
  23  Bed             -0.809         0.010          -0.891         0              180            0
  24  DeskLamp        0.047          0.668          -1.761         0              0              0
  25  GarbageCan      2.657          -0.021         1.275          0              0              0
  26  Mirror          2.821          1.764          -0.068         0              90             0
  27  Window          -1.677         1.402          0.365          90             270            0
  28  LightSwitch     -0.606         1.253          1.435          0              180            0
  29  Shelf           2.025          1.440          -1.730         0              0              0
  30  Drawer          0.187          0.455          -1.577         0              0              0
  31  Drawer          0.187          0.163          -1.577         0              0              0
  32  SideTable       0.186          -0.001         -1.643         0              0              0
  33  Dumbbell        1.576          0.083          -1.563         0              0              0
  34  Desk            2.017          0.000          -1.578         0              0              0
  35  GarbageBag      0.806          0.318          1.143          270            186.178        83.264
  36  Shelf           1.570          0.415          -1.563         0              0              0
  37  Shelf           1.612          0.945          -1.744         0              0              0
  38  Shelf           2.265          0.941          -1.722         0              0              0
  39  Shelf           1.572          0.630          -1.563         0              0              0
  40  Shelf           1.569          0.172          -1.563         0              0              0
  41  Shelf           2.267          1.248          -1.722         0              0              0
  42  Shelf           1.614          1.252          -1.745         0              0              0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: turn to the left | STEP 2: Walk to the desk  | STEP 3: Pick up one of the cell phones | STEP 4: turn around and then turn to your left | STEP 5: Walk to the bed | STEP 6: Put the phone down on the bed | STEP 7: Walk back to the desk | STEP 8: Pick another phone up from the desk and take it to the bed | END