Task: Put two phones in the safe.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.900          0.25           0              180            0
   1  Bowl            -0.585         0.838          -2.072         0              0              0              28
   2  CD              0.368          0.673          -1.781         0              0              0              44
   3  CellPhone       -0.523         0.794          -1.632         0              0              0              45
   4  Pencil          -0.981         0.796          -0.385         0              0              0              45
   5  Pencil          -1.283         1.462          -1.168         0              0              0              29
   6  CreditCard      -0.045         0.836          -1.934         0              0              0              28
   7  KeyChain        0.305          0.082          1.191          0              90             0              38
   8  Book            -1.265         0.794          -0.385         0              180            0              45
   9  Book            1.243          0.578          -1.132         0              0              0              24
  10  AlarmClock      0.150          0.682          1.348          0              0              0              37
  11  Book            0.953          0.578          -0.649         0              0              0              46
  12  Pencil          -1.283         1.462          -0.427         0              0              0              30
  13  Laptop          -1.005         0.780          -1.477         0              31.363         0              45
  14  Pen             -1.194         0.798          -1.243         0              0              0              45
  15  TennisRacket    -1.226         0.301          -0.069         15.000         180            180
  16  TeddyBear       1.629          0.557          -1.064         0              118.287        0              46
  17  Pillow          1.215          0.641          -1.663         0              0              0              24
  18  CellPhone       -1.230         1.461          -1.607         0              0              0              29
  19  KeyChain        0.459          0.674          -1.830         0              90             0              44
  20  AlarmClock      -0.315         0.838          -2.107         0              0              0              28
  21  CreditCard      -1.309         1.459          -1.431         0              0              0              29
  22  CD              1.693          0.039          0.328          0              0              0              41
  23  Bowl            -0.670         0.794          -1.632         0              0              0              45
  24  Bed             1.242          -0.001         -0.881         0              180            0
  25  LightSwitch     0.010          1.315          1.499          0              180            0
  26  GarbageCan      0.840          0.007          1.337          0              180            2.168
  27  HousePlant      -0.083         0.828          -2.045         0              0              0
  28  Shelf           -0.469         0.828          -2.038         0              0              0
  29  Shelf           -1.286         1.451          -1.343         0              0              0
  30  Shelf           -1.286         1.451          -0.602         0              0              0
  31  Shelf           -1.286         1.814          -0.602         0              0              0
  32  Shelf           -1.286         1.814          -1.343         0              0              0
  33  Painting        1.111          1.628          -1.865         90             0              0
  34  DeskLamp        0.473          0.669          1.350          0              0              0
  35  Mirror          -1.383         1.565          0.512          0              270            0
  36  Window          -0.472         1.396          -2.252         90             0              0
  37  SideTable       0.304          -0.001         1.225          0              180            0
  38  Drawer          0.304          0.165          1.159          0              180            0
  39  Drawer          0.304          0.457          1.159          0              180            0
  40  Blinds          -0.453         2.156          -2.242         0              0              0
  41  Safe            1.623          5.960          0.448          0              270            0
  42  Chair           -0.683         0.000          -1.326         0              217.223        0
  43  Drawer          0.416          0.532          -1.553         0              0              0
  44  SideTable       0.413          0.000          -1.684         0              0              0
  45  Desk            -0.788         0.000          -1.032         0              90             0
  46
  47  NorthWall
  48  EastWall
  49  SouthWall
  50  WestWall

Plan:
STEP 1: Turn left, go half way across the room, turn right, go across the room and turn right toward the desk. | STEP 2: Take the phone from the shelf. | STEP 3: Turn right, go across the room, turn right toward the safe. | STEP 4: Put the phone in the safe. | STEP 5: Go back to the desk. | STEP 6: Pick up the phone from the desk. | STEP 7: Turn around and go back to the safe on the right. | STEP 8: Put the phone in the safe. | END