Task: Pick up the phone from the top of the cabinet and put inside a shelf.

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            0.902          -0.75          0              270            0
   1  Mug             1.474          0.799          -2.031         0              270            0              47
   2  Mug             -0.002         0.671          -2.608         0              0              0              52
   3  CD              1.680          0.499          -1.949         0              0              0              49
   4  CD              1.680          0.171          -2.036         0              0              0              45
   5  Pencil          1.633          0.660          -1.551         0              0              0              40
   6  Pencil          1.781          0.805          -2.219         0              0              0              47
   7  CreditCard      1.680          0.656          -1.376         0              0              0              40
   8  CreditCard      0.513          0.673          -2.628         0              0              0              52
   9  Book            1.658          0.799          -1.843         0              90             0              47
  10  Book            -0.574         0.694          -0.36          0              0              0              27
  11  AlarmClock      1.658          0.798          -2.031         0              0              0              47
  12  Book            -0.088         0.694          -0.573         0              0              0              27
  13  KeyChain        1.586          0.502          -1.202         0              0              0              41
  14  AlarmClock      1.536          0.798          -1.279         0              0              0              47
  15  CreditCard      1.597          0.801          -1.655         0              0              0              47
  16  Laptop          -0.088         0.693          0.281          0              0              0              27
  17  Pen             1.586          0.177          -1.551         0              0              0              43
  18  Pencil          1.536          0.805          -1.467         0              0              0              47
  19  BaseballBat     -1.844         0.678          -2.203         0              0              8.760          Floor|+00.01|
  20  Pillow          -0.331         0.755          -1.001         0              0              0              27
  21  Pillow          -1.508         0.685          -0.378         0              288.596        0              27
  22  TennisRacket    -1.597         0.001          -1.367         90             37.792         0              Floor|+00.01|
  23  CellPhone       1.474          0.800          -1.655         0              0              0              47
  24  CD              1.781          0.799          -1.279         0              0              0              40
  25  Mug             1.536          0.798          -2.407         0              0              0              47
  26  Mirror          3.534          1.661          -0.277         0              90             0
  27  Bed             -0.842         -0.000         -0.361         0              270            0
  28  DeskLamp        1.742          0.819          -1.394         0              358.556        0
  29  Painting        0.246          1.564          -2.665         90             0              0
  30  Painting        1.894          1.549          -2.424         90             270            0
  31  Painting        1.894          1.549          -1.289         90             270            0
  32  GarbageCan      3.378          0.000          0.220          0              0              0
  33  LightSwitch     -0.078         1.219          1.298          0              180            0
  34  Window          -0.486         1.409          -2.691         90             0              0
  35  Window          0.987          1.409          -2.691         90             0              0
  36  VacuumCleaner   -1.649         0.010          -2.440         0              42.426         0
  37  Blinds          -0.490         2.130          -2.638         0              0              0
  38  Blinds          1.011          2.130          -2.638         0              0              0
  39  Drawer          1.596          0.411          -1.459         0              270            0
  40  Drawer          1.597          0.732          -1.459         0              270            0
  41  Drawer          1.597          0.574          -1.459         0              270            0
  42  Drawer          1.597          0.732          -2.202         0              270            0
  43  Drawer          1.596          0.247          -1.459         0              270            0
  44  Drawer          1.596          0.090          -1.459         0              270            0
  45  Drawer          1.596          0.247          -2.202         0              270            0
  46  Drawer          1.596          0.411          -2.202         0              270            0
  47  Dresser         1.634          0.003          -1.830         0              270            0
  48  Drawer          1.596          0.090          -2.202         0              270            0
  49  Drawer          1.597          0.574          -2.202         0              270            0
  50  ShelvingUnit    0.249          0.003          -2.519         0              0              0
  51  Shelf           0.017          0.178          -2.511         0              0              0
  52  Shelf           0.249          0.665          -2.519         0              0              0
  53  Shelf           0.243          0.344          -2.511         0              0              0
  54  Shelf           0.474          0.344          -2.511         0              0              0
  55  Shelf           0.355          0.011          -2.511         0              0              0
  56  Shelf           0.016          0.011          -2.511         0              0              0
  57  Shelf           0.357          0.178          -2.511         0              0              0
  58  NorthWall
  59  EastWall
  60  SouthWall
  61  WestWall

Plan:
STEP 1: Turn to your left, take two steps forward, turn left, and take a step to face the cabinet. | STEP 2: Pick up the cell phone on the front edge of the top of the cabinet. | STEP 3: Turn around from your right and face the same cabinet. | STEP 4: Pull out bottom right shelf, place the phone in it, and close it. | END