Task: Put two phones in a drawer.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.5            0.900          -1.75          0              90             0
   1  CellPhone       0.188          0.620          0.832          0              180            0              34
   2  CellPhone       0.247          0.557          -2.325         0              0              0              22
   3  Pencil          -0.431         0.623          0.988          0              180            0              34
   4  Pencil          -0.276         0.623          0.677          0              180            0              34
   5  CreditCard      -0.741         0.618          0.988          0              180            0              34
   6  CreditCard      0.952          0.082          -2.423         0              0              0              39
   7  KeyChain        -1.322         0.681          -2.508         0              0              0              35
   8  Book            -0.300         0.555          -1.880         0              0              0              22
   9  Box             2.453          0.222          -0.041         0              0              0
  10  Book            -0.121         0.617          0.832          0              180            0              34
  11  KeyChain        -1.144         0.681          -2.598         0              180            0              35
  12  Pillow          -0.483         0.653          -1.434         0              0              0              22
  13  BaseballBat     0.419          0.666          1.044          10.360         0              0
  14  Pencil          0.996          0.681          -2.508         0              0              0              36
  15  CellPhone       0.064          0.557          -2.103         0              0              0              22
  16  CreditCard      -1.026         0.679          -2.553         0              0              0              35
  17  Pen             -0.276         0.625          0.833          0              180            0              34
  18  Laptop          -0.661         0.613          0.778          0              165.000        0              34
  19  AlarmClock      -1.236         0.673          -2.425         0              29.999         0              36
  20  CD              0.033          0.618          0.755          0              180            0              34
  21  Mug             -0.121         0.616          0.677          0              270            0              34
  22  Bed             -0.118         -0.001         -1.699         0              180            0
  23  Mirror          2.644          1.347          0.384          0              90             0
  24  GarbageCan      2.467          -0.029         0.936          0              271.107        0
  25  LightSwitch     0.333          1.256          1.149          0              180            0
  26  DeskLamp        0.915          0.670          -2.435         0              0              0
  27  Painting        0.003          1.562          -2.687         90             180            0
  28  Window          -1.559         1.414          -1.356         90             270            0
  29  Window          -1.559         1.414          -0.057         90             270            0
  30  Shelf           -0.276         0.351          0.832          0              0              0
  31  Shelf           -0.276         0.099          0.832          0              0              0
  32  Blinds          -1.462         2.157          -1.343         0              90             0
  33  Blinds          -1.462         2.157          -0.046         0              90             0
  34  Desk            -0.276         -0.001         0.833          0              0              0
  35  SideTable       -1.204         0.002          -2.456         0              0              0
  36  SideTable       0.948          0.002          -2.456         0              0              0
  37  Drawer          0.948          0.166          -2.389         0              0              0
  38  Drawer          -1.204         0.166          -2.389         0              0              0
  39  Drawer          0.948          0.458          -2.389         0              0              0
  40  Drawer          -1.204         0.458          -2.389         0              0              0
  41
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: Turn right and walk towards the wall, then hang a right and walk up to the bed. | STEP 2: Pick up the leftmost phone off of the bed. | STEP 3: Turn right and walk towards the door, then hang a right and take a step forward, turn right again to face the wall. | STEP 4: Open the upper drawer of the nightstand in front of you and put the phone inside, then close the drawer. | STEP 5: Walk forward, then turn right and walk up to the bed. | STEP 6: Pick up the phone off of the bed. | STEP 7: Turn right and walk forward, then turn right and walk towards the wall, turn right again to face the small wooden nightstand. | STEP 8: Open the upper drawer of the nightstand and put the phone inside, then close the drawer. | END