Task: take the phone from the bed to the desk

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.901          -1.0           0              0              0
   1  CD              -0.708         0.662          0.470          0              180            0              32
   2  Pen             -0.362         0.699          -1.980         0              90             0              29
   3  KeyChain        1.747          0.693          -1.744         0              270            0              29
   4  KeyChain        1.489          0.694          -2.007         0              18.354         0              29
   5  Book            -1.346         0.629          0.076          0              0              0              20
   6  AlarmClock      -0.560         0.664          0.643          0              180            0              32
   7  Box             -0.015         0.239          -2.091         0              0              0
   8  Book            1.747          0.691          -1.576         0              0              0              29
   9  BaseballBat     1.798          0.639          0.425          0              0              342.316
  10  Pen             1.492          0.479          -0.911         0              270            0              28
  11  Pencil          -0.615         0.373          0.503          0              0              0              31
  12  KeyChain        -0.339         0.663          0.686          0              270            0              32
  13  Pillow          -1.694         0.656          0.415          0              0              0              20
  14  CreditCard      1.492          0.473          -0.667         0              270            0              28
  15  CellPhone       -2.046         0.631          -1.297         0              0              0              20
  16  Laptop          -1.521         0.628          -0.198         0              0              0              20
  17  CD              1.639          0.051          -0.425         0              345.000        0              24
  18  Bowl            1.222          0.686          -2.128         0              0              0              29
  19  AlarmClock      1.492          0.475          -0.813         0              270            0              28
  20  Bed             -1.696         0.004          -0.446         0              0              0
  21  Chair           0.956          -0.000         -1.747         0              110.225        0
  22  DeskLamp        -0.440         0.688          -2.276         0              0              0
  23  LightSwitch     0.625          1.338          0.734          0              180            0
  24  GarbageCan      1.660          -0.019         -0.389         0              345.008        0
  25  Mirror          1.300          1.422          0.765          0              0              0
  26  HousePlant      -0.867         0.000          -2.286         0              0              0
  27  Window          0.819          1.496          -2.553         90             180            0
  28  Shelf           1.616          0.561          -0.802         0              0              0
  29  Desk            0.617          -0.000         -1.511         0              0              0
  30  Blinds          0.796          2.217          -2.476         0              0              0
  31  Drawer          -0.558         0.456          0.462          0              180            0
  32  SideTable       -0.557         -0.000         0.529          0              180            0
  33  Drawer          -0.558         0.164          0.462          0              180            0
  34  Desktop         1.455          0.692          -1.886         358.180        309.674        0
  35  NorthWall
  36  EastWall
  37  SouthWall
  38  WestWall

Plan:
STEP 1: to the right bottom corner of the bed | STEP 2:  pick up the phone from the bed | STEP 3: take the phone to the desk | STEP 4: put the phone on the desk | END