Task: clean up a plate and a phone and put them onto 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           -3.25          0.900          5.0            0              180            0
   1  Statue          -5.762         0.792          4.689          0              0              0              32
   2  Statue          -3.311         0.560          1.647          0              0              0              28
   3  Newspaper       0.732          0.550          6.556          0              0              0              29
   4  Newspaper       -5.885         0.781          5.132          0              0              0              32
   5  Box             -5.516         0.977          4.689          0              90             0              32
   6  Box             -1.591         0.498          2.277          0              26.831         0              31
   7  CellPhone       -1.561         0.316          2.707          0              39.022         0              31
   8  WateringCan     0.829          -0.001         2.339          0              45             0              Floor|-03.10|
   9  Newspaper       0.847          0.981          3.298          0              0              0              44
  10  KeyChain        -2.559         0.524          3.040          0              218.001        0              40
  11  Plate           -5.807         0.781          4.222          0              0              0              32
  12  Pillow          -2.719         0.609          2.768          0              320.647        0              40
  13  RemoteControl   -1.359         0.310          2.212          0              39.022         0              31
  14  CreditCard      1.017          0.549          6.556          0              0              0              29
  15  Laptop          -5.464         0.779          5.252          0              306.871        0              32
  16  Statue          -3.311         0.560          1.386          0              0              0              28
  17  Curtains        -1.046         3.500          2.880          0              0              0
  18  HousePlant      -3.580         0.548          1.659          0              0              0
  19  Television      0.852          1.460          3.726          357.954        270            0
  20  Painting        -3.813         1.809          1.008          90             90             0
  21  DeskLamp        0.890          0.545          6.822          0              0              0
  22  GarbageCan      -7.102         -0.044         2.295          0              90             0
  23  FloorLamp       -3.494         0.006          0.390          0              0              0
  24  LightSwitch     -5.234         1.391          7.031          0              180            0
  25  Window          -1.985         1.646          -0.009         90             180            0
  26  Window          -4.909         0.990          2.015          90             180            0
  27  Window          -5.796         1.072          1.871          90             180            0
  28  SideTable       -3.407         0.005          1.656          0              270            0
  29  SideTable       0.732          0.005          6.634          0              270            0
  30  Chair           -0.139         0.005          6.412          0              149.999        0
  31  CoffeeTable     -1.546         0.004          2.528          0              39.022         0
  32  DiningTable     -5.639         -0.003         4.910          0              270            0
  33  Chair           -3.159         0.005          0.869          0              97.469         0
  34  Chair           -5.192         0.002          4.682          0              281.219        0
  35  Chair           -5.181         0.002          5.293          0              266.218        0
  36  Chair           -6.046         0.002          4.560          0              86.218         0
  37  Chair           -5.624         0.002          5.750          0              180            0
  38  Chair           -6.036         0.002          5.235          0              93.544         0
  39  Chair           -5.580         0.002          4.099          0              357.508        0
  40  Sofa            -2.465         0.004          3.281          0              128.001        0
  41  Drawer          0.748          0.237          3.330          0              270            0
  42  Drawer          0.748          0.668          3.330          0              270            0
  43  Drawer          0.748          0.235          4.097          0              270            0
  44  Dresser         0.846          0.002          3.713          0              270            0
  45  Drawer          0.748          0.665          4.097          0              270            0
  46  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: turn left and walk straight then turn right and walk straight towards the table and turn right then left | STEP 2: pick up the phone off of the table | STEP 3: turn left then walk straight a little bit then turn left again and walk straight towards the wall and turn left and walk straight towards the table and turn left then walk straight towards the window then turn right then right again towards the table | STEP 4: put the phone down on the plate on the table | STEP 5: pick up the plate and the phone on the table | STEP 6: turn around and then turn left and walk straight towards the couch and turn left and walk straight then turn right and walk straight towards the couch then turn right towards the table then right again and look down | STEP 7: put the plate and the phone down on the table | END