Task: move a phone from shelf to desk

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.900          -1.75          0              0              0
   1  Bowl            1.259          0.383          -0.675         0              270            0              39
   2  Bowl            1.226          0.383          0.191          0              270            0              39
   3  CD              1.226          0.382          -0.242         0              270            0              39
   4  CD              1.172          0.104          -1.998         0              0              0              28
   5  Pen             1.277          0.376          -1.998         0              0              0              31
   6  CellPhone       -0.962         0.611          0.057          0              0              0              29
   7  Pencil          1.120          0.111          -1.674         0              0              0              34
   8  KeyChain        1.26           0.912          -0.249         0              270            0              38
   9  KeyChain        0.937          0.578          -2.537         0              0              0              47
  10  Book            -0.962         0.610          0.618          0              0              0              29
  11  AlarmClock      1.260          0.383          -0.097         0              270            0              39
  12  Pillow          -1.323         0.713          0.057          0              0              0              29
  13  Book            0.623          0.569          -2.471         0              350.999        0              36
  14  KeyChain        1.120          0.239          -1.929         0              0              0              27
  15  BaseballBat     1.436          0.636          1.985          21.882         0              0
  16  BasketBall      1.270          0.12           -1.290         0              345.557        0
  17  Pencil          -1.519         0.701          -1.755         0              0              0              52
  18  CellPhone       1.318          0.505          -2.038         0              270            0              30
  19  CreditCard      1.381          0.105          -1.929         0              0              0              28
  20  Laptop          0.076          0.569          -2.456         0              0              0              47
  21  Pillow          -1.170         0.684          -0.990         0              0              0              29
  22  Boots           1.288          0.000          -0.961         0              177.912        0
  23  Pen             -1.367         0.105          -1.939         0              0              0              51
  24  AlarmClock      -1.582         0.699          -2.191         0              0              0              52
  25  CD              -1.367         0.395          -2.259         0              0              0              53
  26  Bowl            -1.577         1.521          -1.859         0              270            0              41
  27  Drawer          0.980          0.271          -1.963         0              0              0
  28  Drawer          0.980          0.139          -1.963         0              0              0
  29  Bed             -1.209         0.016          -0.266         0              180            1.624
  30  Shelf           1.220          0.859          -1.802         0              270            0
  31  Drawer          0.980          0.404          -1.963         0              0              0
  32  Drawer          0.980          0.272          -1.639         0              0              0
  33  Mirror          0.740          1.491          2.099          0              0              0
  34  Drawer          0.980          0.139          -1.639         0              0              0
  35  Drawer          0.980          0.404          -1.639         0              0              0
  36  Chair           0.280          -0.001         -2.264         0              180            0
  37  GarbageCan      -1.542         0.013          1.919          2.249          116.925        355.175
  38  Shelf           1.259          0.903          -0.269         0              270            0
  39  Shelf           1.259          0.375          -0.263         0              270            0
  40  Shelf           1.259          1.402          -0.259         0              270            0
  41  Shelf           -1.577         1.513          -2.025         0              270            0
  42  LightSwitch     -0.755         1.176          2.099          0              180            0
  43  DeskLamp        -1.489         0.669          -2.419         0              0              0
  44  Window          0.243          0.963          -2.678         90             0              0
  45  Window          -0.361         0.963          -2.679         90             0              0
  46  Window          -0.962         0.963          -2.678         90             0              0
  47  Desk            0.445          0.001          -2.430         0              0              0
  48  Blinds          -0.349         2.186          -2.685         0              0              0
  49  Blinds          0.250          2.186          -2.685         0              0              0
  50  Blinds          -0.952         2.186          -2.685         0              0              0
  51  Drawer          -1.314         0.163          -2.051         0              90             0
  52  SideTable       -1.444         -0.001         -2.051         0              90             0
  53  Drawer          -1.314         0.455          -2.051         0              90             0
  54  NorthWall
  55  EastWall
  56  SouthWall
  57  WestWall

Plan:
STEP 1: turn right, turn left, talk a step, turn right, take a few steps, turn right, walk towards desk, turn left to face shelf | STEP 2: pick up the phone that is on the shelf | STEP 3: turn around to face the desk with a computer on it | STEP 4: put the phone next to the computer | END