Task: get two phones to put on a desk

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           0.899          -1.75          0              270            0
   1  Watch           -1.369         0.338          0.371          0              0              0              64
   2  CD              3.147          0.791          -1.121         0              0              0              62
   3  CD              -3.011         1.141          -1.430         0              90             0              50
   4  CellPhone       -1.088         0.616          -1.160         0              0              0              35
   5  CellPhone       -2.979         1.413          -2.068         0              90             0              42
   6  CellPhone       -2.307         0.600          -0.317         0              0              0              34
   7  Pen             3.017          0.546          -0.495         0              270            0              60
   8  Pencil          -1.383         0.619          0.503          0              180            0              66
   9  Pencil          -1.592         0.619          0.503          0              180            0              66
  10  CreditCard      -1.383         0.613          0.300          0              180            0              66
  11  KeyChain        0.922          1.414          -2.653         0              270            0              49
  12  AlarmClock      3.024          0.794          -0.556         0              0              0              62
  13  Book            3.18           0.785          -1.541         0              21.311         0              62
  14  Laptop          -2.155         0.598          -0.598         0              0              0              34
  15  KeyChain        -1.522         0.615          0.503          0              180            0              66
  16  Cloth           0.970          -0.001         -2.404         0              0              0
  17  BaseballBat     -2.982         0.015          -2.698         270            350.597        0
  18  BasketBall      -2.718         0.118          -1.925         0              0              0
  19  Pillow          -0.936         0.693          -0.598         0              0              0              35
  20  Pillow          -0.327         0.693          -0.879         0              0              0              35
  21  TennisRacket    -3.018         0.301          -2.199         19.103         272.232        184.978
  22  Pencil          -1.662         0.619          0.340          0              180            0              66
  23  CreditCard      0.922          1.141          -2.025         0              270            0              41
  24  Cloth           0.911          0.025          -2.702         0              0              0
  25  TeddyBear       -2.645         0.624          -0.402         0              286.876        0              34
  26  Pen             -1.453         0.619          0.300          0              180            0              66
  27  Cloth           0.705          -0.001         -2.75          0              270            0
  28  AlarmClock      0.954          1.414          -1.485         0              270            0              45
  29  Watch           2.962          0.791          -0.838         0              0              0              62
  30  CellPhone       -0.784         0.616          -1.442         0              0              0              35
  31  CD              0.954          1.141          -2.586         0              270            0              44
  32  Mug             -3.011         1.139          -1.832         0              90             0              50
  33  Bowl            -2.916         1.141          -2.068         0              90             0              42
  34  Bed             -2.455         -0.000         -0.572         0              0              0
  35  Bed             -0.634         -0.000         -0.567         0              0              0
  36  Chair           2.828          -0.002         -0.004         0              245.795        0
  37  Chair           2.727          -0.002         -1.210         0              95.225         0
  38  GarbageCan      1.707          -0.003         -2.785         0              59.967         0
  39  Shelf           0.922          1.133          -2.163         0              270            0
  40  Shelf           -2.948         1.405          -1.621         0              90             0
  41  Shelf           0.922          1.405          -2.163         0              270            0
  42  Shelf           -2.948         1.133          -2.188         0              90             0
  43  Shelf           -2.948         1.405          -2.188         0              90             0
  44  Shelf           0.922          1.133          -2.729         0              270            0
  45  Shelf           0.922          1.133          -1.616         0              270            0
  46  Shelf           -2.948         1.405          -2.735         0              90             0
  47  Shelf           0.922          1.405          -1.616         0              270            0
  48  Shelf           -2.948         1.133          -2.735         0              90             0
  49  Shelf           0.922          1.405          -2.729         0              270            0
  50  Shelf           -2.948         1.133          -1.621         0              90             0
  51  LightSwitch     -0.142         1.328          0.600          0              180            0
  52  Poster          3.400          1.863          -1.976         90             90             0
  53  Poster          3.400          1.702          -0.792         90             90             0
  54  DeskLamp        3.126          0.789          -0.638         0              3.649          0
  55  Mirror          0.453          1.491          0.616          0              0              0
  56  Window          2.278          0.925          -3.184         90             0              0
  57  Window          -1.019         0.925          -3.184         90             0              0
  58  Blinds          -1.003         2.072          -3.177         0              0              0
  59  Blinds          2.292          2.072          -3.177         0              0              0
  60  Shelf           3.124          0.633          -0.564         0              270            0
  61  Shelf           3.124          0.633          -2.267         0              270            0
  62  Desk            3.141          -0.000         -1.414         0              270            0
  63  Desktop         3.101          0.792          -1.236         358.565        270            0
  64  Drawer          -1.523         0.408          0.346          0              180            0
  65  Drawer          -1.523         0.141          0.346          0              180            0
  66  SideTable       -1.522         -0.001         0.411          0              180            0
  67  NorthWall
  68  EastWall
  69  SouthWall
  70  WestWall

Plan:
STEP 1: turn right, walk forward, turn right in between beds, turn right to face the orange bed on the right | STEP 2: pick up the phone that is on the bed | STEP 3: turn right, turn left, walk towards the desk | STEP 4: put the phone on to the desk | STEP 5: turn around, walk towards bed, turn left, turn right, go between the two beds, turn left to face the blue bed | STEP 6: pick up the phone that is on the bed | STEP 7: turn around, walk back around the orange bed, turn right, walk forward to the desk | STEP 8: put the phone on the desk | END