Task: Put two cell phones in a safe

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.900          0.0            0              0              0
   1  CellPhone       1.243          0.578          -1.373         0              0              0              44
   2  Pencil          0.414          0.677          -1.537         0              0              0              42
   3  Pencil          -0.376         0.796          -1.760         0              0              0              43
   4  CreditCard      -1.335         0.793          -1.028         0              0              0              43
   5  CreditCard      -1.112         0.793          -1.696         0              0              0              43
   6  KeyChain        -0.376         0.793          -1.568         0              0              0              43
   7  AlarmClock      0.304          0.679          1.346          0              0              6.147          35
   8  AlarmClock      -0.981         0.794          -1.243         0              0              0              43
   9  Book            1.098          0.578          -0.166         0              0              0              44
  10  Pencil          -0.981         0.796          -1.671         0              0              0              43
  11  Laptop          1.387          0.574          -0.649         0              0              0              22
  12  Pen             -1.265         0.798          -0.385         0              0              0              43
  13  TennisRacket    -1.226         0.301          -0.069         15.000         180            180
  14  TeddyBear       1.629          0.557          -1.064         0              118.287        0              44
  15  Pillow          1.215          0.641          -1.663         0              0              0              22
  16  CellPhone       -1.194         0.794          -1.028         0              0              0              43
  17  KeyChain        -1.052         0.793          -1.457         0              0              0              43
  18  AlarmClock      -0.817         0.794          -1.440         0              0              0              43
  19  CreditCard      0.072          0.680          1.257          0              0              0              35
  20  CD              -0.817         0.792          -1.696         0              0              0              43
  21  Bowl            -1.265         0.794          -1.457         0              0              0              43
  22  Bed             1.242          -0.001         -0.881         0              180            0
  23  LightSwitch     0.010          1.315          1.499          0              180            0
  24  GarbageCan      0.840          0.007          1.337          0              180            2.168
  25  HousePlant      -0.083         0.828          -2.045         0              0              0
  26  Shelf           -0.469         0.828          -2.038         0              0              0
  27  Shelf           -1.286         1.451          -1.343         0              0              0
  28  Shelf           -1.286         1.451          -0.602         0              0              0
  29  Shelf           -1.286         1.814          -0.602         0              0              0
  30  Shelf           -1.286         1.814          -1.343         0              0              0
  31  Painting        1.111          1.628          -1.865         90             0              0
  32  DeskLamp        0.473          0.669          1.350          0              0              0
  33  Mirror          -1.383         1.565          0.512          0              270            0
  34  Window          -0.472         1.396          -2.252         90             0              0
  35  SideTable       0.304          -0.001         1.225          0              180            0
  36  Drawer          0.304          0.165          1.159          0              180            0
  37  Drawer          0.304          0.457          1.159          0              180            0
  38  Blinds          -0.453         2.156          -2.242         0              0              0
  39  Safe            1.623          5.960          0.448          0              270            0
  40  Chair           -0.683         0.000          -1.326         0              217.223        0
  41  Drawer          0.416          0.532          -1.553         0              0              0
  42  SideTable       0.413          0.000          -1.684         0              0              0
  43  Desk            -0.788         0.000          -1.032         0              90             0
  44
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: Turn around and go to the desk on the right | STEP 2: Pick up the cell phone from the desk | STEP 3: Turn right toward the door then turn right at the foot of the bed and go to the safe | STEP 4: Open the safe, put the phone in the safe and then close the safe | STEP 5: Turn right and go to the bed on the left | STEP 6: Pick up the cell phone by the pillow | STEP 7: Turn left and then turn right at the foot of the bed | STEP 8: Open the safe, put the phone to the right of the other phone and close the safe | END