Task: Putting two phones 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          0.25           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: Go to the right of the desk | STEP 2: Grab the phone from the shelf on the desk | STEP 3: Turn right and face the right side of the desk | STEP 4: Put the phone on the desk | STEP 5: Turn around and go to the end of the bed | STEP 6: Grab the phone off of the bed | STEP 7: Turn left and face the right side of the desk | STEP 8: Put the phone on the desk | END