Task: put two cell phones on to the 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          0.25           0              180            0
   1  CD              1.850          0.748          -1.433         0              0              0              34
   2  CellPhone       1.659          1.139          -1.649         0              0              0              42
   3  CellPhone       -1.309         0.508          -0.143         0              0              0              23
   4  Pencil          1.850          0.752          -1.318         0              0              0              34
   5  CreditCard      0.102          0.120          -1.655         0              180            0              31
   6  CreditCard      0.303          0.120          -1.655         0              180            0              31
   7  KeyChain        2.015          0.749          -1.433         0              0              0              34
   8  AlarmClock      1.686          0.748          -1.433         0              0              0              34
   9  AlarmClock      1.964          1.138          -1.649         0              0              0              41
  10  Laptop          -0.475         0.505          -1.602         0              0              0              23
  11  Book            -0.475         0.507          -0.143         0              0              0              23
  12  Pencil          1.517          0.311          -1.324         0              0              0              36
  13  BasketBall      1.144          0.120          -1.656         0              23.931         0              Floor|-00.24|
  14  Laptop          -0.975         0.505          -1.115         0              0              0              23
  15  Pen             2.179          0.754          -1.395         0              0              0              34
  16  KeyChain        0.357          0.647          -1.585         0              0              0              32
  17  CreditCard      2.015          0.748          -1.357         0              0              0              34
  18  CellPhone       -1.309         0.508          -0.386         0              0              0              23
  19  CD              0.153          0.646          -1.664         0              0              0              32
  20  AlarmClock      2.548          1.138          -1.649         0              0              0              41
  21  Pillow          -0.975         0.588          -0.386         0              0              0              23
  22  Chair           2.161          0.008          -1.129         0              256.825        0
  23  Bed             -0.809         0.010          -0.891         0              180            0
  24  DeskLamp        0.047          0.668          -1.761         0              0              0
  25  GarbageCan      2.657          -0.021         1.275          0              0              0
  26  Mirror          2.821          1.764          -0.068         0              90             0
  27  Window          -1.677         1.402          0.365          90             270            0
  28  LightSwitch     -0.606         1.253          1.435          0              180            0
  29  Shelf           2.025          1.440          -1.730         0              0              0
  30  Drawer          0.187          0.455          -1.577         0              0              0
  31  Drawer          0.187          0.163          -1.577         0              0              0
  32  SideTable       0.186          -0.001         -1.643         0              0              0
  33  Dumbbell        1.576          0.083          -1.563         0              0              0
  34  Desk            2.017          0.000          -1.578         0              0              0
  35  GarbageBag      0.806          0.318          1.143          270            186.178        83.264
  36  Shelf           1.570          0.415          -1.563         0              0              0
  37  Shelf           1.612          0.945          -1.744         0              0              0
  38  Shelf           2.265          0.941          -1.722         0              0              0
  39  Shelf           1.572          0.630          -1.563         0              0              0
  40  Shelf           1.569          0.172          -1.563         0              0              0
  41  Shelf           2.267          1.248          -1.722         0              0              0
  42  Shelf           1.614          1.252          -1.745         0              0              0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: move forward to the right side of the desk | STEP 2: pick up the cell phone from the top shelf attached to the desk | STEP 3: move around the desk to face it from the right side | STEP 4: put the cell phone on the desk, standing it straight up and down | STEP 5: turn to the left, move forward passed the bed on the left, turn left at the end of the bed and move to the other end of the bed, turn to face the bed | STEP 6: pick up the cell phone that is closest to the right corner of the bed | STEP 7: turn to the left and move forward passed the bed, turn to the right and move to the wall that is between the desk and the nightstand, turn to the left to face the desk | STEP 8: put the cell phone on to the desk in front of the other one that is standing straight up and down, laying it down | END