Task: move the phone from the desk 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           -0.25          0.900          0.25           0              270            0
   1  TissueBox       1.562          0.710          -0.703         0              0              0              35
   2  CD              -0.545         0.046          0.8            0              0              0              28
   3  CellPhone       0.987          0.704          -1.326         0              180            0              43
   4  CellPhone       0.248          0.704          -1.814         0              180            0              43
   5  CellPhone       0.433          0.085          -1.532         0              180            0              39
   6  Pencil          0.987          0.705          -1.619         0              180            0              43
   7  Pencil          1.449          0.492          -0.394         0              270            0              36
   8  Laptop          -1.483         0.525          -0.570         0              0              0              26
   9  Box             1.537          1.652          0.692          0              0              0              29
  10  Book            1.600          0.708          -0.465         0              0              0              35
  11  AlarmClock      0.494          0.704          -1.423         0              180            0              43
  12  CellPhone       1.233          0.707          -1.619         0              180            0              43
  13  TissueBox       1.511          0.490          -0.534         0              270            0              36
  14  TeddyBear       -2.204         0.500          0.181          355.000        297.467        9.162          26
  15  CreditCard      1.591          1.411          0.393          0              270            0              35
  16  KeyChain        1.572          0.489          -0.254         0              270            0              36
  17  BaseballBat     -2.202         0.04           -1.343         0              45             90             Floor|+00.00|
  18  TennisRacket    -2.254         0.324          -1.806         15.000         180            180            Floor|+00.00|
  19  Pillow          -2.070         0.598          -0.570         0              0              0              26
  20  Laptop          -1.777         0.525          -0.082         0              0              0              26
  21  CD              0.018          0.496          -1.425         0              180            0              38
  22  Pen             -0.074         0.503          -1.372         0              180            0              38
  23  Pencil          -0.074         0.084          -1.479         0              180            0              39
  24  Mug             1.469          1.409          0.264          0              270            0              35
  25  Mirror          -0.689         1.495          0.954          0              0              0
  26  Bed             -1.742         0.000          -0.071         0              0              0
  27  Chair           0.891          -0.001         -1.251         0              175.104        0
  28  GarbageCan      -0.606         -0.021         0.799          0              0              0
  29  ShelvingUnit    1.550          1.402          0.374          0              270            0
  30  Painting        -2.401         1.700          -0.859         90             90             0
  31  DeskLamp        1.291          0.699          -1.717         0              0              0
  32  LightSwitch     0.231          1.287          0.954          0              180            0
  33  HousePlant      1.488          1.394          0.035          0              122.291        0
  34  Window          0.046          1.559          -2.079         90             180            0
  35  SideTable       1.561          0.000          -0.465         0              270            0
  36  Shelf           1.541          0.493          -0.475         0              270            0
  37  Blinds          0.007          2.152          -2.014         0              0              0
  38  Drawer          -0.156         0.547          -1.430         0              0              0
  39  Drawer          0.270          0.159          -1.430         0              0              0
  40  Drawer          -0.156         0.159          -1.430         0              0              0
  41  Drawer          0.270          0.353          -1.430         0              0              0
  42  Drawer          -0.156         0.353          -1.430         0              0              0
  43  Desk            0.634          0.002          -1.557         0              0              0
  44  Drawer          0.270          0.547          -1.430         0              0              0
  45  Shelf           1.406          0.571          -1.514         0              0              0
  46  Shelf           1.406          0.183          -1.514         0              0              0
  47  Shelf           1.584          0.183          -1.514         0              0              0
  48  Shelf           1.406          0.377          -1.514         0              0              0
  49  Shelf           1.584          0.377          -1.514         0              0              0
  50  Shelf           1.584          0.571          -1.514         0              0              0
  51  NorthWall
  52  EastWall
  53  SouthWall
  54  WestWall

Plan:
STEP 1: turn around, walk towards the book shelf, turn right, walk forward to the desk | STEP 2: pick up the phone that is on the desk | STEP 3: turn around, walk towards the door, turn left, walk towards the bed | STEP 4: put the phone on to the bed | END