Task: Putting two 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           1.25           0.901          1.0            0              180            0
   1  Mug             -1.692         0.661          -1.482         0              0              0              47
   2  CD              2.656          0.179          1.326          0              180            0              39
   3  CD              2.818          0.183          0.928          0              180            0              40
   4  CellPhone       2.732          0.988          0.439          0              180            0              37
   5  Pen             2.995          0.990          1.292          0              180            0              37
   6  Pen             2.732          0.990          1.007          0              180            0              37
   7  Book            2.732          0.984          1.860          0              180            0              37
   8  Book            -0.716         0.693          0.782          0              0              0              29
   9  Pencil          2.907          0.992          0.439          0              180            0              37
  10  Pencil          1.352          0.028          -1.652         0              0              0              34
  11  Pillow          -0.448         0.779          -0.332         0              0              0              29
  12  Laptop          2.590          0.447          -0.605         0              119.999        0              50
  13  Book            2.644          0.984          0.155          0              180            0              37
  14  KeyChain        2.995          0.989          0.723          0              180            0              37
  15  Laptop          0.086          0.691          -0.555         0              0              0              29
  16  Cloth           1.763          0.000          -1.732         0              70.590         0
  17  CreditCard      -1.562         0.357          1.535          0              0              0              46
  18  Pen             -1.558         0.668          1.401          0              0              0              49
  19  Pencil          2.732          0.989          1.576          0              180            0              37
  20  BaseballBat     3.076          0.629          -1.762         0              0              338.300
  21  AlarmClock      2.995          0.987          0.155          0              180            0              37
  22  BaseballBat     0.808          0.05           2.151          0              0              270
  23  Pillow          0.086          0.779          -0.109         0              0              0              29
  24  Pillow          -0.984         0.779          0.113          0              0              0              29
  25  CellPhone       2.390          0.449          -0.820         0              119.999        0              50
  26  CD              -1.514         0.662          1.556          0              0              0              49
  27  Mug             2.818          0.182          0.688          0              180            0              40
  28  Curtains        -0.020         2.923          -1.853         0              0              0
  29  Bed             -0.750         -0.018         0.113          1.247          270            0
  30  LightSwitch     1.317          1.297          2.197          0              180            0
  31  DeskLamp        -1.618         0.669          1.486          0              0              0
  32  DeskLamp        -1.631         0.669          -1.308         0              0              0
  33  Painting        1.524          1.516          -1.853         90             0              0
  34  GarbageCan      1.352          0.000          -1.685         0              0              0
  35  Mirror          0.575          1.351          2.197          0              0              0
  36  Window          -0.013         1.687          -1.919         90             0              0
  37  Dresser         2.819          0.000          1.008          0              270            0
  38  Drawer          2.572          0.901          1.784          0              270            0
  39  Cabinet         2.484          0.499          1.014          0              270            0
  40  Cabinet         2.484          0.499          0.999          0              270            0
  41  Drawer          2.572          0.901          1.263          0              270            0
  42  Drawer          2.572          0.901          0.748          0              270            0
  43  Cabinet         2.484          0.499          -0.019         0              270            0
  44  Drawer          2.572          0.901          0.230          0              270            0
  45  Cabinet         2.484          0.499          2.033          0              270            0
  46  Drawer          -1.533         0.459          1.478          0              90             0
  47  SideTable       -1.599         0.001          -1.249         0              90             0
  48  Drawer          -1.533         0.459          -1.250         0              90             0
  49  SideTable       -1.599         0.001          1.479          0              90             0
  50  ArmChair        2.574          0.002          -0.817         0              299.998        0
  51  Shelf           -1.552         0.040          -1.400         0              90             0
  52  Shelf           -1.552         0.040          -1.133         0              90             0
  53  Shelf           -1.552         0.040          1.328          0              90             0
  54  Shelf           -1.552         0.040          1.595          0              90             0
  55  NorthWall
  56  EastWall
  57  SouthWall
  58  WestWall

Plan:
STEP 1: Turn left and go to the couch | STEP 2: Grab the phone off of the couch | STEP 3: Turn around and go to the bed | STEP 4: Put the phone on the bed to the right of the pillow | STEP 5: Turn around and go to the black drawer | STEP 6: Grab the phone that is on top of the drawer | STEP 7: Turn around and head to the bed | STEP 8: Put the phone on the bed to the right of the laptop | END