Task: put two phone's inside the safe on the floor from the table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.900          0.5            0              180            0
   1  CD              -0.376         0.792          -1.696         0              0              0              45
   2  CellPhone       1.098          0.578          -1.373         0              0              0              46
   3  CellPhone       0.305          0.682          1.212          0              0              0              37
   4  Pencil          -0.523         0.796          -1.440         0              0              0              45
   5  Pen             -0.376         0.798          -1.568         0              0              0              45
   6  CreditCard      -0.817         0.793          -1.760         0              0              0              45
   7  KeyChain        1.797          0.039          0.381          0              0              0              41
   8  KeyChain        0.190          0.374          1.191          0              90             0              39
   9  Book            -1.123         0.794          -1.457         0              0              0              45
  10  Laptop          0.953          0.574          -0.649         0              0              0              46
  11  Book            1.098          0.578          -0.166         0              0              0              46
  12  Pencil          -0.450         0.840          -2.072         0              0              0              28
  13  Laptop          1.532          0.574          -0.408         0              0              0              24
  14  Pen             -0.585         0.842          -2.038         0              0              0              28
  15  TennisRacket    -1.226         0.301          -0.069         15.000         180            180
  16  TeddyBear       1.629          0.557          -1.064         0              118.287        0              46
  17  Pillow          1.215          0.641          -1.663         0              0              0              24
  18  CellPhone       0.150          0.682          1.303          0              0              0              37
  19  KeyChain        -0.756         0.793          -1.346         0              53.910         0              45
  20  AlarmClock      -0.981         0.794          -1.028         0              0              0              45
  21  CreditCard      0.550          0.673          -1.830         0              0              0              44
  22  CD              0.419          0.082          1.238          0              0              0              38
  23  Bowl            -1.283         1.824          -0.690         0              0              0              31
  24  Bed             1.242          -0.001         -0.881         0              180            0
  25  LightSwitch     0.010          1.315          1.499          0              180            0
  26  GarbageCan      0.840          0.007          1.337          0              180            2.168
  27  HousePlant      -0.083         0.828          -2.045         0              0              0
  28  Shelf           -0.469         0.828          -2.038         0              0              0
  29  Shelf           -1.286         1.451          -1.343         0              0              0
  30  Shelf           -1.286         1.451          -0.602         0              0              0
  31  Shelf           -1.286         1.814          -0.602         0              0              0
  32  Shelf           -1.286         1.814          -1.343         0              0              0
  33  Painting        1.111          1.628          -1.865         90             0              0
  34  DeskLamp        0.473          0.669          1.350          0              0              0
  35  Mirror          -1.383         1.565          0.512          0              270            0
  36  Window          -0.472         1.396          -2.252         90             0              0
  37  SideTable       0.304          -0.001         1.225          0              180            0
  38  Drawer          0.304          0.165          1.159          0              180            0
  39  Drawer          0.304          0.457          1.159          0              180            0
  40  Blinds          -0.453         2.156          -2.242         0              0              0
  41  Safe            1.623          5.960          0.448          0              270            0
  42  Chair           -0.683         0.000          -1.326         0              217.223        0
  43  Drawer          0.416          0.532          -1.553         0              0              0
  44  SideTable       0.413          0.000          -1.684         0              0              0
  45  Desk            -0.788         0.000          -1.032         0              90             0
  46
  47  NorthWall
  48  EastWall
  49  SouthWall
  50  WestWall

Plan:
STEP 1: turn left then walk straight then turn left again towards the night stand | STEP 2: pick up the phone on the right of the other phone on the night stand | STEP 3: turn right and look down towards the safe on the floor | STEP 4: open the safe on the floor put the phone inside and close the safe | STEP 5: turn around and walk straight then turn right towards the night stand then turn right again | STEP 6: pick up the phone from the night stand | STEP 7: turn right then turn left and walk towards the safe on the floor and look down | STEP 8: open the safe and put the phone inside then close the safe | END