Task: Put two cell phones 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           -0.5           0.902          -1.5           0              180            0
   1  Mug             0.306          0.352          -2.598         0              90             0              53
   2  Mug             1.658          0.798          -2.407         0              90             0              47
   3  CD              1.680          0.654          -1.202         0              0              0              40
   4  CellPhone       1.597          0.801          -1.655         0              0              0              47
   5  Pen             1.680          0.506          -2.036         0              0              0              49
   6  Pen             1.536          0.805          -1.279         0              0              0              47
   7  CreditCard      1.474          0.801          -1.467         0              0              0              47
   8  KeyChain        1.586          0.656          -1.551         0              0              0              40
   9  KeyChain        0.210          0.189          -2.581         0              180            0              53
  10  Book            1.658          0.799          -2.031         0              0              0              47
  11  Laptop          -1.061         0.693          -0.146         0              0              0              27
  12  Book            -1.436         0.671          0.115          0              300.000        0              27
  13  KeyChain        1.680          0.335          -2.298         0              0              0              46
  14  AlarmClock      0.069          0.665          -2.578         0              0              0              52
  15  CreditCard      1.726          0.334          -1.551         0              0              0              39
  16  Laptop          -0.088         0.693          0.281          0              0              0              27
  17  Pen             1.633          0.661          -2.036         0              0              0              42
  18  Pencil          1.680          0.659          -1.551         0              0              0              40
  19  BaseballBat     -1.844         0.678          -2.203         0              0              8.760          Floor|+00.01|
  20  Pillow          -1.489         0.685          -0.854         0              345.000        0              27
  21  Pillow          -1.508         0.685          -0.378         0              288.596        0              27
  22  TennisRacket    -1.597         0.001          -1.367         90             37.792         0              Floor|+00.01|
  23  CellPhone       1.781          0.800          -1.655         0              0              0              47
  24  CD              1.586          0.333          -1.949         0              0              0              46
  25  Mug             1.474          0.799          -2.407         0              90             0              47
  26  Mirror          3.534          1.661          -0.277         0              90             0
  27  Bed             -0.842         -0.000         -0.361         0              270            0
  28  DeskLamp        1.742          0.819          -1.394         0              358.556        0
  29  Painting        0.246          1.564          -2.665         90             0              0
  30  Painting        1.894          1.549          -2.424         90             270            0
  31  Painting        1.894          1.549          -1.289         90             270            0
  32  GarbageCan      3.378          0.000          0.220          0              0              0
  33  LightSwitch     -0.078         1.219          1.298          0              180            0
  34  Window          -0.486         1.409          -2.691         90             0              0
  35  Window          0.987          1.409          -2.691         90             0              0
  36  VacuumCleaner   -1.649         0.010          -2.440         0              42.426         0
  37  Blinds          -0.490         2.130          -2.638         0              0              0
  38  Blinds          1.011          2.130          -2.638         0              0              0
  39  Drawer          1.596          0.411          -1.459         0              270            0
  40  Drawer          1.597          0.732          -1.459         0              270            0
  41  Drawer          1.597          0.574          -1.459         0              270            0
  42  Drawer          1.597          0.732          -2.202         0              270            0
  43  Drawer          1.596          0.247          -1.459         0              270            0
  44  Drawer          1.596          0.090          -1.459         0              270            0
  45  Drawer          1.596          0.247          -2.202         0              270            0
  46  Drawer          1.596          0.411          -2.202         0              270            0
  47  Dresser         1.634          0.003          -1.830         0              270            0
  48  Drawer          1.596          0.090          -2.202         0              270            0
  49  Drawer          1.597          0.574          -2.202         0              270            0
  50  ShelvingUnit    0.249          0.003          -2.519         0              0              0
  51  Shelf           0.017          0.178          -2.511         0              0              0
  52  Shelf           0.249          0.665          -2.519         0              0              0
  53  Shelf           0.243          0.344          -2.511         0              0              0
  54  Shelf           0.474          0.344          -2.511         0              0              0
  55  Shelf           0.355          0.011          -2.511         0              0              0
  56  Shelf           0.016          0.011          -2.511         0              0              0
  57  Shelf           0.357          0.178          -2.511         0              0              0
  58  NorthWall
  59  EastWall
  60  SouthWall
  61  WestWall

Plan:
STEP 1: Turn left, go to the dresser. | STEP 2: Pick up the cell phone closer to wall on the dresser. | STEP 3: Turn left, go to the bed. | STEP 4: Put cell phone on foot of the bed next to the laptop. | STEP 5: Turn left, go to the dresser. | STEP 6: Pick up cell phone from dresser. | STEP 7: Turn left, go to the bed. | STEP 8: Put cell phone on bed to left of the other phone. | END