Task: pick up phone's and put them 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           -0.5           0.900          0.5            0              270            0
   1  CellPhone       -0.948         0.902          -1.403         0              0              0              23
   2  Pen             -1.106         0.099          -1.330         0              0              0              25
   3  Pen             2.591          0.530          1.110          0              180            0              35
   4  Pencil          0.430          0.945          -1.854         0              0              0              29
   5  Pencil          -0.948         0.904          -1.680         0              0              0              23
   6  KeyChain        -0.426         0.896          -1.588         0              0              0              23
   7  Book            -0.600         0.901          -1.403         0              0              0              23
   8  Book            2.878          0.777          -0.608         0              180            0              33
   9  AlarmClock      2.436          0.526          1.191          0              180            0              35
  10  Laptop          1.780          0.774          -0.906         0              180            0              33
  11  Laptop          3.152          0.774          -1.354         0              180            0              40
  12  Book            -0.806         0.651          -1.330         0              0              0              26
  13  Pen             0.253          0.947          -1.91          0              0              0              29
  14  AlarmClock      -0.600         0.897          -1.773         0              0              0              23
  15  TeddyBear       1.324          0.827          -0.763         56.834         332.692        298.236        40
  16  CellPhone       2.436          0.525          1.272          0              180            0              35
  17  Pencil          2.359          0.528          1.191          0              180            0              35
  18  Pillow          2.603          0.840          -0.906         0              180            0              33
  19  Laptop          2.329          0.774          -1.354         0              180            0              40
  20  KeyChain        -1.181         0.651          -1.533         0              90             0              26
  21  CreditCard      2.205          0.523          1.272          0              180            0              35
  22  CD              -0.956         0.650          -1.330         0              0              0              26
  23  Desk            -0.503         0.006          -1.465         0              0              0
  24  Drawer          -0.945         0.493          -1.176         0              0              0
  25  Drawer          -0.946         0.212          -1.176         0              0              0
  26  Drawer          -0.944         0.739          -1.176         0              0              0
  27  DeskLamp        -0.124         0.899          -1.731         0              0              0
  28  LightSwitch     3.513          1.253          0.165          0              270            0
  29  Shelf           0.759          0.934          -1.909         0              0              0
  30  Mirror          2.407          1.294          1.401          0              0              0
  31  GarbageCan      3.347          -0.000         -0.027         0              270            0
  32  Window          0.717          1.603          -2.108         90             0              0
  33  Bed             2.301          0.005          -1.056         0              270            0
  34  Blinds          0.749          2.523          -2.022         0              0              0
  35  SideTable       2.436          0.002          1.143          0              180            0
  36  Drawer          2.437          0.122          1.154          0              180            0
  37  Drawer          2.437          0.350          1.153          0              180            0
  38  LaundryHamper   0.359          0.006          -1.505         0              280.399        358.305
  39  Chair           -0.308         0.009          -1.108         0              166.824        0
  40
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: turn left then walk straight towards the desk | STEP 2: pick up the phone off of the desk | STEP 3: turn around and then walk straight a bit then turn right and walk straight towards the bed then turn right then turn left again towards the edge of the bed | STEP 4: put the phone down on the bed in front of the computer | STEP 5: turn left then walk straight then turn right and walk straight towards the garbage can then turn left and walk straight towards the night stand | STEP 6: pick the phone up off of the night stand | STEP 7: turn left then walk straight then turn left again towards the window and walk straight then turn left towards the edge of the bed | STEP 8: put the phone down on the bed to the right of the other phone | END