Task: put two cell phones into a desk drawer

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           0.901          0.75           0              90             0
   1  Mug             -0.455         0.063          2.019          0              0              0              32
   2  Mug             2.100          0.724          -0.256         0              270            0              57
   3  CD              -0.655         0.737          -1.320         0              0              0              49
   4  CellPhone       -0.574         0.670          3.249          0              90             0              43
   5  CellPhone       -0.667         0.670          3.075          0              90             0              43
   6  CellPhone       1.807          0.728          0.236          0              270            0              57
   7  KeyChain        1.822          0.521          -0.685         0              0              0              55
   8  Book            -0.562         1.841          1.631          0              0              0              52
   9  Book            -0.745         0.069          2.307          0              0              0              32
  10  AlarmClock      -0.782         0.678          2.364          0              90             0              33
  11  Book            -0.596         1.504          -0.496         0              0              0              47
  12  Box             -0.493         0.2            -0.286         0              84.024         0
  13  TennisRacket    -1.345         0.288          0.233          30.000         270            180
  14  Pen             1.555          0.527          -0.731         0              90             0              55
  15  AlarmClock      -0.626         0.979          -1.416         0              0              0              48
  16  Pillow          -1.002         1.585          -0.942         0              0              0              47
  17  Pillow          -1.137         1.585          -0.496         0              0              0              47
  18  CellPhone       2.003          0.728          -0.010         0              270            0              57
  19  KeyChain        1.502          0.433          1.883          0              180            0              60
  20  CreditCard      -0.703         0.094          -1.320         0              0              0              51
  21  CD              -0.817         0.065          2.379          0              0              0              32
  22  Pencil          2.011          0.072          -1.150         0              270            0              27
  23  Laptop          1.672          0.449          1.605          0              180            0              60
  24  Mug             -0.949         0.667          3.162          0              90             0              43
  25  DeskLamp        2.016          0.701          0.708          0              0              0
  26  Painting        2.199          1.771          -0.101         90             270            0
  27  GarbageCan      2.022          -0.037         -1.239         0              270            0
  28  Mirror          2.229          1.254          2.664          0              90             0
  29  LightSwitch     2.199          1.258          1.988          0              270            0
  30  Window          1.575          1.559          -1.953         90             180            0
  31  Drawer          -0.551         0.578          2.246          0              90             0
  32  Cabinet         -0.649         0.270          2.247          0              90             0
  33  Desk            -0.655         0.006          1.814          0              90             0
  34  Shelf           1.769          0.184          0.757          0              270            0
  35  Shelf           1.769          0.572          0.757          0              270            0
  36  Shelf           1.769          0.572          0.935          0              270            0
  37  Shelf           1.769          0.378          0.935          0              270            0
  38  Shelf           1.769          0.378          0.757          0              270            0
  39  Shelf           1.769          0.184          0.935          0              270            0
  40  Blinds          1.547          2.434          -1.886         0              0              0
  41  Drawer          -0.553         0.155          2.942          0              90             0
  42  Drawer          -0.553         0.572          2.942          0              90             0
  43  Dresser         -0.665         0.001          2.939          0              90             0
  44  Drawer          -0.553         0.376          2.942          0              90             0
  45  Chair           1.482          0.012          0.223          0              77.085         0
  46  Chair           -0.199         0.012          1.538          0              287.086        0
  47  Bed             -0.866         0.007          -0.919         0              0              0
  48  Dresser         -0.772         0.001          -1.313         0              90             0
  49  Drawer          -0.660         0.830          -1.309         0              90             0
  50  Drawer          -0.660         0.225          -1.309         0              90             0
  51  Drawer          -0.660         0.547          -1.309         0              90             0
  52  Bed             -0.872         1.637          2.188          0              0              0
  53  Drawer          1.685          0.160          -0.805         0              270            0
  54  Drawer          1.685          0.160          -0.378         0              270            0
  55  Drawer          1.685          0.547          -0.805         0              270            0
  56  Drawer          1.685          0.547          -0.378         0              270            0
  57  Desk            1.812          0.003          -0.014         0              270            0
  58  Drawer          1.685          0.354          -0.805         0              270            0
  59  Drawer          1.685          0.354          -0.378         0              270            0
  60  ArmChair        1.712          -0.000         1.532          0              270            0
  61  NorthWall
  62  EastWall
  63  SouthWall
  64  WestWall

Plan:
STEP 1: walk to face the desk | STEP 2: pick up the cell phone on the left from the desk top | STEP 3: walk to the right to face the right half of the desk | STEP 4: open the top right drawer of the desk, put phone inside, close the drawer | STEP 5: walk to face the desk top | STEP 6: pick up the cell phone on the desk top | STEP 7: walk to face the right half of the desk | STEP 8: open the top right drawer, put the cell phone in, close the drawer | END