Task: drop a phone on the couch

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           3.0            0.900          0.5            0              270            0
   1  CD              2.776          0.777          -1.59          0              0              0              36
   2  CellPhone       0.333          0.616          1.529          0              180            0              32
   3  Pen             0.291          0.711          1.463          0              90             0              30
   4  Pen             3.701          0.783          -1.59          0              0              0              36
   5  CreditCard      3.547          0.779          -1.322         0              0              0              36
   6  KeyChain        0.760          0.446          -2.231         0              330.000        0              34
   7  KeyChain        0.926          0.442          -2.349         0              330.000        0              34
   8  Book            1.171          0.596          0.530          0              0              0              23
   9  Book            1.577          0.596          -0.238         0              0              0              23
  10  KeyChain        0.352          0.616          -1.169         0              0              0              33
  11  Pillow          0.463          0.638          0.408          0              101.363        0              23
  12  Pillow          0.535          0.638          -0.119         0              279.121        0              23
  13  CreditCard      0.324          0.704          1.380          0              90             0              30
  14  Pen             2.776          0.785          -1.679         0              0              0              36
  15  Pencil          0.258          0.709          1.213          0              90             0              30
  16  TissueBox       3.084          0.781          -1.500         0              0              0              36
  17  Laptop          0.968          0.594          -0.238         0              0              0              23
  18  CellPhone       0.766          0.596          -0.238         0              0              0              23
  19  AlarmClock      3.084          0.778          -1.768         0              0              0              36
  20  CD              0.323          0.705          -1.271         0              180            0              31
  21  Chair           3.232          0.002          -1.873         0              350.846        0
  22  Mirror          1.083          1.228          1.700          0              0              0
  23  Bed             0.898          -0.002         0.141          0              270            0
  24  GarbageCan      3.633          8.165          -0.982         0              209.052        0
  25  DeskLamp        3.681          0.785          -1.386         0              0              0
  26  DeskLamp        0.347          0.698          -0.979         0              0              0
  27  Painting        0.100          1.432          -2.053         90             270            0
  28  Window          2.270          1.547          -2.915         90             0              0
  29  LightSwitch     1.809          1.169          1.700          0              180            0
  30  SideTable       0.277          0.000          1.299          0              90             0
  31  SideTable       0.276          0.000          -1.017         0              90             0
  32  Drawer          0.328          0.624          1.299          0              90             0
  33  Drawer          0.328          0.624          -1.017         0              90             0
  34  ArmChair        0.849          -0.001         -2.141         0              66.451         0
  35  Blinds          2.299          2.525          -2.892         0              0              0
  36  Desk            3.238          0.003          -1.590         0              0              0
  37  NorthWall
  38  EastWall
  39  SouthWall
  40  WestWall

Plan:
STEP 1: move left towards the bed | STEP 2: pick up the phone from the bed | STEP 3: turn around and head for the couch  | STEP 4: drop the phone on the couch | END