Task: place two cell phones on bed to the right of purple pillow

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.900          -0.25          0              0              0
   1  CD              -0.404         0.667          -0.654         0              0              0              37
   2  CD              2.282          0.049          2.634          0              0              0              27
   3  CellPhone       2.095          0.844          -0.090         0              0              0              31
   4  CellPhone       2.143          0.844          -0.352         0              0              0              31
   5  CreditCard      2.143          0.842          -0.221         0              0              0              31
   6  CreditCard      2.170          0.097          -0.190         0              0              0              30
   7  Book            2.285          0.844          -0.615         0              0              0              31
   8  AlarmClock      2.285          0.843          -0.090         0              0              0              31
   9  Box             2.15           0.14           0.494          0              12.243         0
  10  Book            2.170          0.095          -0.484         0              90             0              30
  11  BasketBall      -0.235         0.120          0.166          0              0              0
  12  Pen             -0.225         0.930          -0.818         0              0              0              36
  13  Pillow          0.333          0.617          1.263          0              0              0              21
  14  Pencil          2.333          0.846          -0.221         0              0              0              31
  15  CellPhone       2.095          0.844          -0.484         0              0              0              31
  16  KeyChain        -0.140         0.376          -0.653         0              0              0              34
  17  CreditCard      2.120          0.461          -0.777         0              0              0              29
  18  AlarmClock      2.303          0.836          -0.829         0              285.000        0              31
  19  CD              -0.414         0.924          -1.459         0              0              0              36
  20  Laptop          -0.414         0.923          -0.391         0              0              0              36
  21  Bed             0.009          -0.004         1.577          0              0              0
  22  DeskLamp        -0.669         0.923          -0.062         0              90             0
  23  Painting        -0.787         1.809          -0.215         90             270            0
  24  Painting        -0.787         1.809          1.023          90             270            0
  25  Mirror          2.118          1.277          2.749          0              0              0
  26  LightSwitch     0.726          1.200          2.75           0              180            0
  27  GarbageCan      2.257          -0.008         2.603          353.970        0              0
  28  Window          0.665          1.356          -1.911         90             0              0
  29  Drawer          2.119          0.576          -0.491         4.458          270            0
  30  Drawer          2.147          0.213          -0.491         4.458          270            0
  31  SideTable       2.226          0.013          -0.492         4.458          270            0
  32  Chair           0.170          0.011          -1.214         0              261.719        0
  33  Blinds          0.695          1.983          -1.867         0              0              0
  34  Drawer          -0.079         0.513          -0.394         0              90             0
  35  Drawer          -0.079         0.226          -0.394         0              90             0
  36  Desk            -0.391         0.001          -0.811         0              90             0
  37  Drawer          -0.079         0.762          -0.394         0              90             0
  38  NorthWall
  39  EastWall
  40  SouthWall
  41  WestWall

Plan:
STEP 1: turn right, go to left end of green dresser with red clock | STEP 2: pick up cell phone on left corner of green dresser | STEP 3: turn around, go to right side of bed with purple pillow | STEP 4: place phone on bed to the right of purple pillow | STEP 5: turn around, go to green dresser to the right | STEP 6: pick up cell phone in between credit card and cell phone | STEP 7: turn around, go to right side of bed with purple pillow and cell phone | STEP 8: place cell phone to the right of cell phone | END