Task: Place a phone 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           1.75           0.900          -0.5           0              0              0
   1  CD              2.158          1.138          -1.649         0              0              0              39
   2  CreditCard      0.303          0.377          -1.655         0              180            0              28
   3  CreditCard      2.061          0.778          -1.579         0              0              0              32
   4  KeyChain        2.343          0.749          -1.433         0              0              0              32
   5  KeyChain        2.158          0.778          -1.684         0              0              0              32
   6  Book            -0.308         0.507          -0.629         0              0              0              21
   7  AlarmClock      2.548          1.138          -1.614         0              0              0              39
   8  AlarmClock      1.686          0.748          -1.357         0              0              0              32
   9  Book            -0.809         0.507          -1.115         0              0              0              21
  10  Pencil          2.011          1.395          -1.586         0              0              0              39
  11  BasketBall      1.144          0.120          -1.656         0              23.931         0              Floor|-00.24|
  12  Laptop          -0.794         0.495          -0.303         0              61.899         0              21
  13  Pen             1.522          0.754          -1.395         0              0              0              32
  14  KeyChain        2.015          0.749          -1.357         0              0              0              32
  15  CreditCard      0.052          0.377          -1.676         0              180            0              28
  16  CellPhone       2.353          1.139          -1.684         0              0              0              39
  17  CD              1.850          0.748          -1.318         0              0              0              32
  18  AlarmClock      0.153          0.646          -1.664         0              0              0              30
  19  Pillow          -1.154         0.54           -1.607         0              13.257         0              21
  20  Chair           2.161          0.008          -1.129         0              256.825        0
  21  Bed             -0.809         0.010          -0.891         0              180            0
  22  DeskLamp        0.047          0.668          -1.761         0              0              0
  23  GarbageCan      2.657          -0.021         1.275          0              0              0
  24  Mirror          2.821          1.764          -0.068         0              90             0
  25  Window          -1.677         1.402          0.365          90             270            0
  26  LightSwitch     -0.606         1.253          1.435          0              180            0
  27  Shelf           2.025          1.440          -1.730         0              0              0
  28  Drawer          0.187          0.455          -1.577         0              0              0
  29  Drawer          0.187          0.163          -1.577         0              0              0
  30  SideTable       0.186          -0.001         -1.643         0              0              0
  31  Dumbbell        1.576          0.083          -1.563         0              0              0
  32  Desk            2.017          0.000          -1.578         0              0              0
  33  GarbageBag      0.806          0.318          1.143          270            186.178        83.264
  34  Shelf           1.570          0.415          -1.563         0              0              0
  35  Shelf           1.612          0.945          -1.744         0              0              0
  36  Shelf           2.265          0.941          -1.722         0              0              0
  37  Shelf           1.572          0.630          -1.563         0              0              0
  38  Shelf           1.569          0.172          -1.563         0              0              0
  39  Shelf           2.267          1.248          -1.722         0              0              0
  40  Shelf           1.614          1.252          -1.745         0              0              0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: Turn around and face the desk. | STEP 2: Pick up the phone from the middle shelf on the desk. | STEP 3: Walk around the desk and look at it from its right side. | STEP 4: Place the phone on the desk. | END