Task: Put a phone on a plate before placing the place on a shelf.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -6.5           0.900          5.5            0              270            0
   1  Newspaper       0.909          0.981          3.921          0              0              0              44
   2  Newspaper       -5.762         0.786          5.575          0              0              0              32
   3  KeyChain        -1.788         0.533          3.691          0              38.001         0              40
   4  KeyChain        0.822          0.099          3.847          0              90             0              43
   5  RemoteControl   0.753          0.100          3.930          0              0              0              43
   6  Box             -5.885         0.977          4.467          0              0              0              32
   7  CellPhone       -2.255         0.526          3.429          0              38.001         0              40
   8  WateringCan     0.829          -0.001         2.339          0              45             0              Floor|-03.10|
   9  Newspaper       0.636          0.548          6.382          0              0              0              29
  10  KeyChain        -1.824         0.310          2.754          0              39.022         0              31
  11  Plate           -5.516         0.786          4.689          0              0              0              32
  12  Pillow          -2.719         0.609          2.768          0              320.647        0              40
  13  RemoteControl   0.784          0.983          3.298          0              0              0              44
  14  CreditCard      0.722          0.982          3.506          0              0              0              44
  15  Laptop          -5.464         0.779          5.252          0              306.871        0              32
  16  Statue          -3.216         0.559          1.560          0              0              0              28
  17  Curtains        -1.046         3.500          2.880          0              0              0
  18  HousePlant      -3.580         0.548          1.659          0              0              0
  19  Television      0.852          1.460          3.726          357.954        270            0
  20  Painting        -3.813         1.809          1.008          90             90             0
  21  DeskLamp        0.890          0.545          6.822          0              0              0
  22  GarbageCan      -7.102         -0.044         2.295          0              90             0
  23  FloorLamp       -3.494         0.006          0.390          0              0              0
  24  LightSwitch     -5.234         1.391          7.031          0              180            0
  25  Window          -1.985         1.646          -0.009         90             180            0
  26  Window          -4.909         0.990          2.015          90             180            0
  27  Window          -5.796         1.072          1.871          90             180            0
  28  SideTable       -3.407         0.005          1.656          0              270            0
  29  SideTable       0.732          0.005          6.634          0              270            0
  30  Chair           -0.139         0.005          6.412          0              149.999        0
  31  CoffeeTable     -1.546         0.004          2.528          0              39.022         0
  32  DiningTable     -5.639         -0.003         4.910          0              270            0
  33  Chair           -3.159         0.005          0.869          0              97.469         0
  34  Chair           -5.192         0.002          4.682          0              281.219        0
  35  Chair           -5.181         0.002          5.293          0              266.218        0
  36  Chair           -6.046         0.002          4.560          0              86.218         0
  37  Chair           -5.624         0.002          5.750          0              180            0
  38  Chair           -6.036         0.002          5.235          0              93.544         0
  39  Chair           -5.580         0.002          4.099          0              357.508        0
  40  Sofa            -2.465         0.004          3.281          0              128.001        0
  41  Drawer          0.748          0.237          3.330          0              270            0
  42  Drawer          0.748          0.668          3.330          0              270            0
  43  Drawer          0.748          0.235          4.097          0              270            0
  44  Dresser         0.846          0.002          3.713          0              270            0
  45  Drawer          0.748          0.665          4.097          0              270            0
  46  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: Turn around 180 degrees, walk to the opposite side of the room, turn 90 degrees to the left when you reach the other end, and walk over to the sofa. | STEP 2: Pick up the phone on the couch. | STEP 3: Turn to the right 90 degrees, then to the left 90 degrees, and walk over to the table. | STEP 4: Put the phone on the plate. | STEP 5: Pick up the plate on the table. | STEP 6: Turn around 180 degrees and walk back over to the other side of the room. | STEP 7: Place the plate on the top of the bookshelf. | END