Task: move a phone from the dresser to 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           2.0            0.902          -0.25          0              180            0
   1  Mug             0.255          0.671          -2.570         0              0              0              54
   2  CD              1.586          0.013          -1.202         0              0              0              46
   3  CD              1.726          0.333          -1.202         0              0              0              41
   4  CellPhone       1.597          0.800          -1.279         0              0              0              49
   5  CellPhone       1.633          0.172          -2.473         0              0              0              47
   6  CellPhone       1.586          0.334          -1.464         0              0              0              41
   7  Pen             1.597          0.800          -1.467         0              0              0              49
   8  Pen             1.680          0.339          -2.211         0              0              0              48
   9  Pencil          1.586          0.018          -2.298         0              0              0              50
  10  CreditCard      1.474          0.799          -2.219         0              0              0              49
  11  CreditCard      1.597          0.801          -2.407         0              0              0              49
  12  Book            -0.331         0.694          0.067          0              0              0              29
  13  Book            -0.818         0.694          -0.146         0              0              0              29
  14  Book            -0.331         0.694          -0.573         0              0              0              29
  15  KeyChain        1.719          0.801          -1.843         0              0              0              49
  16  AlarmClock      0.069          0.665          -2.578         0              0              0              54
  17  CreditCard      1.474          0.799          -1.843         0              0              0              49
  18  Laptop          -0.331         0.693          -1.001         0              0              0              29
  19  Pen             1.536          0.805          -1.655         0              0              0              49
  20  Pencil          1.633          0.659          -2.298         0              0              0              44
  21  BaseballBat     -1.844         0.678          -2.203         0              0              8.760          Floor|+00.01|
  22  Pillow          -1.489         0.685          -0.854         0              345.000        0              29
  23  Pillow          -1.508         0.685          -0.378         0              288.596        0              29
  24  TennisRacket    -1.597         0.001          -1.367         90             37.792         0              Floor|+00.01|
  25  CellPhone       1.474          0.801          -1.279         0              0              0              49
  26  CD              3.378          0.016          0.245          0              0              0              34
  27  Mug             0.318          0.186          -2.581         0              0              0              59
  28  Mirror          3.534          1.661          -0.277         0              90             0
  29  Bed             -0.842         -0.000         -0.361         0              270            0
  30  DeskLamp        1.742          0.819          -1.394         0              358.556        0
  31  Painting        0.246          1.564          -2.665         90             0              0
  32  Painting        1.894          1.549          -2.424         90             270            0
  33  Painting        1.894          1.549          -1.289         90             270            0
  34  GarbageCan      3.378          0.000          0.220          0              0              0
  35  LightSwitch     -0.078         1.219          1.298          0              180            0
  36  Window          -0.486         1.409          -2.691         90             0              0
  37  Window          0.987          1.409          -2.691         90             0              0
  38  VacuumCleaner   -1.649         0.010          -2.440         0              42.426         0
  39  Blinds          -0.490         2.130          -2.638         0              0              0
  40  Blinds          1.011          2.130          -2.638         0              0              0
  41  Drawer          1.596          0.411          -1.459         0              270            0
  42  Drawer          1.597          0.732          -1.459         0              270            0
  43  Drawer          1.597          0.574          -1.459         0              270            0
  44  Drawer          1.597          0.732          -2.202         0              270            0
  45  Drawer          1.596          0.247          -1.459         0              270            0
  46  Drawer          1.596          0.090          -1.459         0              270            0
  47  Drawer          1.596          0.247          -2.202         0              270            0
  48  Drawer          1.596          0.411          -2.202         0              270            0
  49  Dresser         1.634          0.003          -1.830         0              270            0
  50  Drawer          1.596          0.090          -2.202         0              270            0
  51  Drawer          1.597          0.574          -2.202         0              270            0
  52  ShelvingUnit    0.249          0.003          -2.519         0              0              0
  53  Shelf           0.017          0.178          -2.511         0              0              0
  54  Shelf           0.249          0.665          -2.519         0              0              0
  55  Shelf           0.243          0.344          -2.511         0              0              0
  56  Shelf           0.474          0.344          -2.511         0              0              0
  57  Shelf           0.355          0.011          -2.511         0              0              0
  58  Shelf           0.016          0.011          -2.511         0              0              0
  59  Shelf           0.357          0.178          -2.511         0              0              0
  60  NorthWall
  61  EastWall
  62  SouthWall
  63  WestWall

Plan:
STEP 1: turn right, walk towards bed, turn left, take a few steps, turn left to face dresser | STEP 2: pick up a phone that is on the dresser | STEP 3: turn left, walk forward a few steps, turn left to face the bed | STEP 4: put the phone on the bed | END