Task: drop two phones on the sofa

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.25           0.916          1.75           0              180            0
   1  Newspaper       -0.145         0.669          1.464          0              0              0              72
   2  Newspaper       -2.812         0.569          1.600          0              270            0              59
   3  KeyChain        3.083          0.084          0.268          0              180            0              51
   4  KeyChain        -0.113         0.906          1.946          0              0              0              64
   5  CellPhone       -2.927         0.364          -1.725         0              29.999         0              41
   6  CellPhone       3.160          0.592          0.298          0              180            0              47
   7  CellPhone       3.121          0.592          0.431          0              180            0              47
   8  RemoteControl   -3.299         0.592          -0.622         0              0              0              54
   9  RemoteControl   -0.096         0.663          1.944          0              0              0              61
  10  Box             -0.113         1.100          1.217          0              90             0              64
  11  Laptop          0.067          0.904          2.431          0              0              0              64
  12  Book            0.116          0.902          1.073          0              29.999         0              64
  13  Box             -3.376         0.780          -0.423         0              270            0              54
  14  Statue          3.160          0.595          -0.441         0              180            0              50
  15  CreditCard      0.003          0.663          1.304          0              0              0              72
  16  Laptop          -2.885         0.561          1.187          0              270            0              59
  17  WateringCan     2.893          0.014          -1.916         0              328.832        0
  18  Newspaper       -0.145         0.418          2.419          0              0              0              68
  19  Vase            -2.168         1.195          -2.183         0              0              0
  20  CellPhone       -2.852         0.371          -2.024         0              29.999         0              41
  21  RemoteControl   -0.295         0.907          2.188          0              0              0              64
  22  Vase            -1.046         1.195          -2.151         0              0              0
  23  Pillow          -2.893         0.616          0.818          0              0              0              59
  24  KeyChain        -2.976         0.363          -1.953         0              299.999        0              41
  25  Cabinet         0.333          0.514          -2.015         0              0              0
  26  DeskLamp        3.143          0.591          1.457          0              270            0
  27  LightSwitch     -0.927         1.316          2.846          0              180            0
  28  HousePlant      0.491          0.874          -1.581         0              0              0
  29  Television      0.069          1.406          1.698          0              270            0
  30  GarbageCan      3.164          0.026          0.891          0              0              0
  31  Painting        -1.561         1.408          -2.318         90             180            0
  32  Painting        3.367          1.789          -0.949         90             270            0
  33  Painting        -3.488         1.386          -0.507         90             270            0
  34  FloorLamp       3.103          0.025          -2.341         0              135            0
  35  Window          1.133          1.218          -2.740         90             0              0
  36  Window          -3.368         1.180          -1.539         90             90             0
  37  Window          2.898          1.218          -2.740         90             0              0
  38  Window          2.006          1.218          -2.740         90             0              0
  39  Window          -0.193         1.157          -2.563         90             0              0
  40  Window          -2.970         1.157          -2.563         90             0              0
  41  ArmChair        -2.859         0.026          -2.036         0              29.994         0
  42  SideTable       -0.170         0.027          -2.279         0              0              0
  43  Drawer          -0.173         0.465          -2.135         0              0              0
  44  Drawer          3.104          0.167          1.400          0              270            0
  45  SideTable       3.163          0.032          1.400          0              270            0
  46  Drawer          3.103          0.418          1.401          0              270            0
  47  SideTable       3.163          0.032          0.364          0              270            0
  48  Drawer          -3.241         0.418          -0.490         0              90             0
  49  Drawer          3.104          0.167          -0.574         0              270            0
  50  SideTable       3.163          0.032          -0.574         0              270            0
  51  Drawer          3.104          0.167          0.364          0              270            0
  52  Drawer          3.104          0.419          -0.574         0              270            0
  53  Drawer          -3.241         0.167          -0.489         0              90             0
  54  SideTable       -3.300         0.032          -0.489         0              90             0
  55  Drawer          3.104          0.419          0.364          0              270            0
  56  Chair           1.049          0.031          -2.190         0              29.997         0
  57  DogBed          2.739          0.032          2.260          0              45             0
  58  Chair           2.037          0.031          -2.232         0              350.485        0
  59  Sofa            -2.957         0.032          1.393          0              90             0
  60  Drawer          -0.189         0.232          0.954          0              270            0
  61  Drawer          -0.415         0.854          1.921          0              270            0
  62  Drawer          -0.415         0.351          1.414          0              270            0
  63  Drawer          -0.415         0.603          1.414          0              270            0
  64  Dresser         -0.052         0.028          1.667          0              270            0
  65  Drawer          -0.190         0.484          0.954          0              270            0
  66  Drawer          -0.190         0.736          0.954          0              270            0
  67  Drawer          -0.415         0.603          1.921          0              270            0
  68  Drawer          -0.415         0.603          2.384          0              270            0
  69  Drawer          -0.415         0.351          2.384          0              270            0
  70  Drawer          -0.415         0.854          2.384          0              270            0
  71  Drawer          -0.415         0.351          1.921          0              270            0
  72  Drawer          -0.415         0.854          1.414          0              270            0
  73  Stool           3.135          0.029          -1.625         0              330.001        0
  74  Chair           1.631          0.029          2.210          0              161.562        0
  75  NorthWall
  76  EastWall
  77  SouthWall
  78  WestWall

Plan:
STEP 1: turn left and head towards the cupboard | STEP 2: pick up a phone from it | STEP 3: turn around and head towards the sofa | STEP 4: drop the phone on it | STEP 5: turn left and head towards the chair | STEP 6: pick up a phone from it | STEP 7: turn right and head back towards the sofa | STEP 8: drop the phone on it | END