Task: Move the phone from the table to the sofa chair

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.900          -1.0           0              180            0
   1  TissueBox       3.239          0.781          -1.411         0              0              0              37
   2  CD              2.776          0.779          -1.768         0              0              0              37
   3  CellPhone       3.239          0.779          -1.768         0              0              0              37
   4  Pen             3.239          0.785          -1.857         0              0              0              37
   5  Pen             3.084          0.783          -1.679         0              0              0              37
   6  Pencil          2.776          0.782          -1.500         0              0              0              37
   7  Pencil          3.641          0.052          -0.983         0              210.000        0              25
   8  KeyChain        3.084          0.779          -1.857         0              0              0              37
   9  AlarmClock      3.701          0.779          -1.857         0              0              0              37
  10  Book            0.360          0.596          -0.046         0              0              0              24
  11  KeyChain        0.760          0.446          -2.231         0              330.000        0              35
  12  Pillow          0.463          0.638          0.408          0              101.363        0              24
  13  Pillow          0.968          0.677          -0.046         0              0              0              24
  14  CreditCard      3.701          0.777          -1.59          0              0              0              37
  15  Pen             0.357          0.710          1.213          0              90             0              31
  16  Pencil          0.291          0.709          -1.186         0              180            0              32
  17  TissueBox       2.930          0.781          -1.857         0              0              0              37
  18  Laptop          1.577          0.594          -0.046         0              0              0              24
  19  CellPhone       3.393          0.779          -1.411         0              0              0              37
  20  AlarmClock      0.226          0.705          1.463          0              90             0              31
  21  CD              0.333          0.615          -1.246         0              180            0              34
  22  Chair           3.232          0.002          -1.873         0              350.846        0
  23  Mirror          1.083          1.228          1.700          0              0              0
  24  Bed             0.898          -0.002         0.141          0              270            0
  25  GarbageCan      3.633          8.165          -0.982         0              209.052        0
  26  DeskLamp        3.681          0.785          -1.386         0              0              0
  27  DeskLamp        0.347          0.698          -0.979         0              0              0
  28  Painting        0.100          1.432          -2.053         90             270            0
  29  Window          2.270          1.547          -2.915         90             0              0
  30  LightSwitch     1.809          1.169          1.700          0              180            0
  31  SideTable       0.277          0.000          1.299          0              90             0
  32  SideTable       0.276          0.000          -1.017         0              90             0
  33  Drawer          0.328          0.624          1.299          0              90             0
  34  Drawer          0.328          0.624          -1.017         0              90             0
  35  ArmChair        0.849          -0.001         -2.141         0              66.451         0
  36  Blinds          2.299          2.525          -2.892         0              0              0
  37  Desk            3.238          0.003          -1.590         0              0              0
  38  NorthWall
  39  EastWall
  40  SouthWall
  41  WestWall

Plan:
STEP 1: Turn left, walk to the side of the table | STEP 2: Grab the phone on the table | STEP 3: Turn right, walk across the room to the sofa chair | STEP 4: Put the phone on the chair | END