Task: Place a cell phone on a tray and carry it to another 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          1.5            0              270            0
   1  Plate           0.332          0.339          0.018          0              0              0              45
   2  Plate           0.003          0.339          0.018          0              0              0              45
   3  Newspaper       0.021          0.549          1.876          0              0              0              36
   4  Statue          -0.185         0.561          2.083          0              180            0              36
   5  Statue          0.003          0.345          0.271          0              0              0              45
   6  KeyChain        -1.964         0.593          0.564          0              0              0              42
   7  CellPhone       -1.732         0.593          0.564          0              0              0              42
   8  CellPhone       3.280          0.640          -0.621         0              0              0              41
   9  CellPhone       -1.887         0.593          0.208          0              0              0              42
  10  CreditCard      -1.887         0.592          1.096          0              0              0              46
  11  CreditCard      1.354          0.481          0.980          0              0              0              39
  12  Box             -0.221         0.122          -2.044         0              0              0              45
  13  Newspaper       -1.819         0.091          0.232          0              0              0              43
  14  CreditCard      1.291          0.616          -0.751         0              270            0              34
  15  Vase            3.482          0.644          -0.802         0              0              0              41
  16  KeyChain        -1.740         0.345          0.564          0              0              0              47
  17  Plate           0.250          0.339          0.651          0              0              0              45
  18  Laptop          3.525          0.631          -1.438         0              271.146        0              41
  19  CellPhone       -1.732         0.597          0.386          0              0              0              42
  20  RemoteControl   0.167          0.337          0.271          0              0              0              45
  21  Pillow          1.435          0.515          -0.125         0              0              0              39
  22  Vase            -1.856         0.097          0.563          0              0              0              48
  23  Statue          0.003          0.345          0.777          0              0              0              45
  24  ArmChair        -1.761         0.0            -1.488         0              240.000        0
  25  Television      -2.035         1.081          0.555          0              90             0
  26  LightSwitch     2.099          1.353          -0.828         0              90             0
  27  HousePlant      -0.804         0.000          -2.187         0              0              0
  28  FloorLamp       1.689          0.002          1.776          0              90             0
  29  Painting        1.983          1.585          0.326          90             270            0
  30  GarbageCan      -1.891         -0.029         -0.409         0              0              0
  31  Window          2.775          1.281          -2.018         90             180            0
  32  Window          -0.013         1.289          -2.450         90             180            0
  33  SideTable       1.566          0.000          -0.689         0              180            0
  34  Drawer          1.566          0.624          -0.741         0              180            0
  35  Shelf           -0.147         0.172          1.925          0              0              0
  36  Shelf           -0.147         0.552          1.925          0              0              0
  37  Shelf           -0.147         0.880          1.924          0              0              0
  38  ShelvingUnit    -0.147         0.006          1.924          0              0              0
  39  Sofa            1.556          -0.004         0.424          0              270            0
  40  Shelf           0.167          0.104          0.200          0              270            0
  41  DiningTable     3.583          0.000          -1.164         0              270            0
  42  TVStand         -1.965         0.000          0.563          0              270            0
  43  Shelf           -1.964         0.082          0.563          0              270            0
  44  Shelf           -1.964         0.333          0.563          0              270            0
  45  CoffeeTable     0.167          0.001          0.216          0              270            0
  46
  47
  48
  49  NorthWall
  50  EastWall
  51  SouthWall
  52  WestWall

Plan:
STEP 1: turn left to walk towards the window. turn left again and go into the other room. walk to the left edge of the table | STEP 2: pick up the cell phone from the table | STEP 3: turn right and then right again to enter the other room. walk towards the wall. turn right at the table. turn left to face the table | STEP 4: place the phone on the blue tray | STEP 5: pick up the blue tray from the table | STEP 6: turn left and walk toward the wall. turn left again and walk towards the door and stop. | STEP 7: turn left and place the tray on the table next to the couch | END