Task: Put two cell phone on 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           -1.75          0.937          -2.0           0              0              0
   1  Mug             -0.289         1.114          -2.902         0              90             0              36
   2  Mug             -0.914         1.114          -2.988         0              0              0              36
   3  CellPhone       1.657          0.556          2.540          0              0              0              56
   4  CellPhone       1.668          0.097          -3.049         0              90             0              54
   5  CreditCard      -2.412         0.307          3.503          0              180            0              49
   6  Book            -1.017         0.190          3.573          0              175.771        0              48
   7  Book            -0.602         1.115          -2.988         0              0              0              36
   8  KeyChain        1.755          0.553          2.324          0              0              0              56
   9  KeyChain        -1.227         1.117          -2.988         0              90             0              36
  10  RemoteControl   -2.164         1.118          -3.073         0              0              0              36
  11  AlarmClock      -1.539         1.118          -3.073         0              0              0              36
  12  AlarmClock      -1.851         1.118          -3.158         0              0              0              36
  13  Laptop          1.528          0.830          0.495          0              0              0              29
  14  Laptop          1.528          0.830          1.215          0              0              0              29
  15  Book            -2.090         0.190          3.593          0              180            0              49
  16  AlarmClock      -1.227         1.118          -2.817         0              0              0              36
  17  CellPhone       1.706          0.556          2.253          0              0              0              56
  18  Pillow          0.389          0.940          1.456          0              0              0              29
  19  Pillow          1.815          0.87           1.153          0              270            0              29
  20  TeddyBear       1.868          0.036          -0.561         0              59.999         0              Floor|-00.06|
  21  CreditCard      1.903          0.552          2.612          0              0              0              56
  22  KeyChain        -1.851         1.117          -2.732         0              0              0              36
  23  Pencil          1.607          0.556          2.396          0              0              0              56
  24  Laptop          0.673          0.830          0.255          0              0              0              29
  25  RemoteControl   -1.851         1.118          -2.988         0              0              0              36
  26  CD              -2.010         0.190          3.413          0              180            0              49
  27  Pen             1.537          0.558          2.342          0              90             0              56
  28  Mug             -2.685         0.080          -2.976         0              0              0              30
  29  Bed             0.967          0.049          0.667          0              90             0
  30  Cabinet         -3.0           1.497          -2.643         0              0              0
  31  Drawer          -0.365         0.785          -2.848         0              0              0
  32  Drawer          -1.159         0.785          -2.848         0              0              0
  33  Cabinet         2.064          1.497          -2.643         0              0              0
  34  Drawer          -1.159         0.285          -2.848         0              0              0
  35  Drawer          -0.365         0.285          -2.848         0              0              0
  36  Desk            -1.271         1.169          -2.987         0              0              0
  37  LightSwitch     -0.159         1.281          3.999          0              180            0
  38  GarbageCan      -3.338         0.022          -2.797         0              4.809          0
  39  HousePlant      -0.195         1.105          -3.084         0              0              0
  40  DeskLamp        1.863          0.581          2.431          0              0              0
  41  Mirror          -1.603         1.447          3.999          0              0              0
  42  Television      -3.883         1.771          2.122          0              90             0
  43  Window          -1.952         2.148          -3.302         90             180            0
  44  Window          -0.467         2.148          -3.302         90             180            0
  45  Window          -3.894         1.751          0.582          90             270            0
  46  Window          -3.894         1.751          -0.675         90             270            0
  47  LaundryHamper   1.831          0.058          3.689          0              354.434        1.354
  48  ArmChair        -0.948         0.051          3.583          0              175.988        0
  49  ArmChair        -2.172         0.051          3.598          0              180            0
  50  Blinds          -0.477         2.785          -3.253         0              0              0
  51  Blinds          -1.957         2.785          -3.253         0              0              0
  52  Blinds          -3.799         2.506          0.602          0              90             0
  53  Blinds          -3.799         2.506          -0.647         0              90             0
  54  Safe            1.673          0.054          -3.004         0              0              0
  55  ArmChair        -3.349         0.051          3.375          0              150.096        0
  56  SideTable       1.775          0.048          2.377          0              0              0
  57  Chair           -2.002         0.050          -2.532         0              165.000        0
  58  NorthWall
  59  EastWall
  60  SouthWall
  61  WestWall

Plan:
STEP 1: Walk forward past the end of the bed turn right walk towards the side table | STEP 2: Pick up the cell phone on the side table | STEP 3: Turn left then walk forward, then left facing the front of the bed | STEP 4: Put the cell phone on the bed | STEP 5: Turn left then head back to the side table, go to the left side of it | STEP 6: Pick up the cell phone  | STEP 7: Turn right then head back to the front of the bed | STEP 8: Put the cell phone beside the other  | END