Task: put two phone's 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          0.902          -1.75          0              0              0
   1  Mug             0.341          0.671          -2.608         0              0              0              53
   2  CD              1.474          0.801          -1.279         0              0              0              48
   3  CD              3.378          0.016          0.245          0              0              0              33
   4  CellPhone       1.781          0.801          -2.219         0              0              0              48
   5  Pen             1.597          0.800          -1.467         0              0              0              48
   6  Pen             1.633          0.177          -1.289         0              0              0              44
   7  Pencil          1.680          0.338          -2.124         0              0              0              47
   8  CreditCard      1.493          0.013          -1.464         0              0              0              45
   9  CreditCard      1.773          0.013          -2.473         0              0              0              49
  10  KeyChain        1.726          0.016          -2.386         0              0              0              49
  11  Laptop          -1.548         0.693          -1.001         0              0              0              28
  12  Pillow          -0.088         0.755          0.281          0              0              0              28
  13  Book            1.597          0.801          -1.843         0              0              0              48
  14  KeyChain        1.586          0.172          -2.211         0              0              0              46
  15  AlarmClock      0.069          0.665          -2.578         0              0              0              53
  16  CreditCard      1.842          0.801          -2.031         0              0              0              48
  17  Laptop          -0.818         0.693          -0.146         0              0              0              28
  18  Pen             1.536          0.807          -2.219         0              0              0              48
  19  Pencil          1.680          0.176          -2.386         0              0              0              46
  20  BaseballBat     -1.844         0.678          -2.203         0              0              8.760          Floor|+00.01|
  21  Pillow          -0.574         0.755          -0.573         0              0              0              28
  22  Pillow          -1.508         0.685          -0.378         0              288.596        0              28
  23  TennisRacket    -1.597         0.001          -1.367         90             37.792         0              Floor|+00.01|
  24  CellPhone       1.719          0.794          -1.279         0              0              0              41
  25  CD              1.726          0.170          -2.473         0              0              0              46
  26  Mug             0.318          0.186          -2.581         0              0              0              58
  27  Mirror          3.534          1.661          -0.277         0              90             0
  28  Bed             -0.842         -0.000         -0.361         0              270            0
  29  DeskLamp        1.742          0.819          -1.394         0              358.556        0
  30  Painting        0.246          1.564          -2.665         90             0              0
  31  Painting        1.894          1.549          -2.424         90             270            0
  32  Painting        1.894          1.549          -1.289         90             270            0
  33  GarbageCan      3.378          0.000          0.220          0              0              0
  34  LightSwitch     -0.078         1.219          1.298          0              180            0
  35  Window          -0.486         1.409          -2.691         90             0              0
  36  Window          0.987          1.409          -2.691         90             0              0
  37  VacuumCleaner   -1.649         0.010          -2.440         0              42.426         0
  38  Blinds          -0.490         2.130          -2.638         0              0              0
  39  Blinds          1.011          2.130          -2.638         0              0              0
  40  Drawer          1.596          0.411          -1.459         0              270            0
  41  Drawer          1.597          0.732          -1.459         0              270            0
  42  Drawer          1.597          0.574          -1.459         0              270            0
  43  Drawer          1.597          0.732          -2.202         0              270            0
  44  Drawer          1.596          0.247          -1.459         0              270            0
  45  Drawer          1.596          0.090          -1.459         0              270            0
  46  Drawer          1.596          0.247          -2.202         0              270            0
  47  Drawer          1.596          0.411          -2.202         0              270            0
  48  Dresser         1.634          0.003          -1.830         0              270            0
  49  Drawer          1.596          0.090          -2.202         0              270            0
  50  Drawer          1.597          0.574          -2.202         0              270            0
  51  ShelvingUnit    0.249          0.003          -2.519         0              0              0
  52  Shelf           0.017          0.178          -2.511         0              0              0
  53  Shelf           0.249          0.665          -2.519         0              0              0
  54  Shelf           0.243          0.344          -2.511         0              0              0
  55  Shelf           0.474          0.344          -2.511         0              0              0
  56  Shelf           0.355          0.011          -2.511         0              0              0
  57  Shelf           0.016          0.011          -2.511         0              0              0
  58  Shelf           0.357          0.178          -2.511         0              0              0
  59  NorthWall
  60  EastWall
  61  SouthWall
  62  WestWall

Plan:
STEP 1: turn to the right walk forward turn to the left walk forward turn to the right walk forward turn to the right  | STEP 2: pick up the phone on the shelf  | STEP 3: turn to the right turn to the right walk forward turn to the left  | STEP 4: put the phone on the bed  | STEP 5: turn to the left walk forward turn to the left  | STEP 6: pick up the phone on the dresser  | STEP 7: turn to the left walk forward turn to the left  | STEP 8: put the phone on the bed  | END