Task: place two cellphones on 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           2.5            0.899          -2.25          0              180            0
   1  Watch           3.147          0.793          -2.250         0              0              0              59
   2  CellPhone       -1.383         0.614          0.381          0              180            0              63
   3  Pen             -1.453         0.619          0.462          0              180            0              63
   4  CreditCard      0.922          1.413          -2.283         0              270            0              38
   5  KeyChain        3.209          0.794          -1.403         0              0              0              59
   6  Book            -2.916         0.599          -1.160         0              0              0              31
   7  AlarmClock      3.024          0.794          -1.968         0              0              0              59
   8  AlarmClock      3.024          0.794          -2.250         0              0              0              59
   9  Laptop          -0.479         0.614          -1.160         0              0              0              32
  10  Book            -2.916         0.599          0.245          0              0              0              31
  11  Laptop          -0.479         0.614          -0.598         0              0              0              32
  12  KeyChain        0.954          1.414          -2.586         0              0              0              46
  13  Cloth           0.970          -0.001         -2.404         0              0              0
  14  BaseballBat     -2.982         0.015          -2.698         270            350.597        0
  15  BasketBall      -2.718         0.118          -1.925         0              0              0
  16  Pillow          -2.465         0.661          0.110          0              0              0              31
  17  Pillow          -0.626         0.650          0.129          0              0              0              32
  18  TennisRacket    -3.018         0.301          -2.199         19.103         272.232        184.978
  19  Pencil          3.086          0.797          -1.686         0              0              0              59
  20  CreditCard      -1.592         0.613          0.381          0              180            0              63
  21  Cloth           0.911          0.025          -2.702         0              0              0
  22  TeddyBear       -2.645         0.624          -0.402         0              286.876        0              31
  23  Pen             1.715          0.043          -2.770         0              59.999         0              35
  24  Cloth           0.705          -0.001         -2.75          0              270            0
  25  AlarmClock      0.922          1.142          -2.854         0              270            0              41
  26  Watch           -1.369         0.338          0.350          0              0              0              61
  27  CellPhone       0.922          1.413          -1.668         0              270            0              44
  28  CD              3.271          0.791          -2.250         0              0              0              59
  29  Mug             3.017          0.538          -0.552         0              270            0              57
  30  Bowl            -2.948         1.413          -2.621         0              90             0              43
  31  Bed             -2.455         -0.000         -0.572         0              0              0
  32  Bed             -0.634         -0.000         -0.567         0              0              0
  33  Chair           2.828          -0.002         -0.004         0              245.795        0
  34  Chair           2.727          -0.002         -1.210         0              95.225         0
  35  GarbageCan      1.707          -0.003         -2.785         0              59.967         0
  36  Shelf           0.922          1.133          -2.163         0              270            0
  37  Shelf           -2.948         1.405          -1.621         0              90             0
  38  Shelf           0.922          1.405          -2.163         0              270            0
  39  Shelf           -2.948         1.133          -2.188         0              90             0
  40  Shelf           -2.948         1.405          -2.188         0              90             0
  41  Shelf           0.922          1.133          -2.729         0              270            0
  42  Shelf           0.922          1.133          -1.616         0              270            0
  43  Shelf           -2.948         1.405          -2.735         0              90             0
  44  Shelf           0.922          1.405          -1.616         0              270            0
  45  Shelf           -2.948         1.133          -2.735         0              90             0
  46  Shelf           0.922          1.405          -2.729         0              270            0
  47  Shelf           -2.948         1.133          -1.621         0              90             0
  48  LightSwitch     -0.142         1.328          0.600          0              180            0
  49  Poster          3.400          1.863          -1.976         90             90             0
  50  Poster          3.400          1.702          -0.792         90             90             0
  51  DeskLamp        3.126          0.789          -0.638         0              3.649          0
  52  Mirror          0.453          1.491          0.616          0              0              0
  53  Window          2.278          0.925          -3.184         90             0              0
  54  Window          -1.019         0.925          -3.184         90             0              0
  55  Blinds          -1.003         2.072          -3.177         0              0              0
  56  Blinds          2.292          2.072          -3.177         0              0              0
  57  Shelf           3.124          0.633          -0.564         0              270            0
  58  Shelf           3.124          0.633          -2.267         0              270            0
  59  Desk            3.141          -0.000         -1.414         0              270            0
  60  Desktop         3.101          0.792          -1.236         358.565        270            0
  61  Drawer          -1.523         0.408          0.346          0              180            0
  62  Drawer          -1.523         0.141          0.346          0              180            0
  63  SideTable       -1.522         -0.001         0.411          0              180            0
  64  NorthWall
  65  EastWall
  66  SouthWall
  67  WestWall

Plan:
STEP 1: turn right and walk into the wall, then turn right and walk around to the other side of that wall and turn to face it | STEP 2: grab the cellphone off of the cellphone there in the wall | STEP 3: turn left and walk over to the other side of the wall, then turn left to face the desk | STEP 4: place the cellphone down on top of the desk | STEP 5: turn around and walk forwards to the bed, then turn left and walk to the end of the room, then a right to walk to the nightstand in between the two beds on the right | STEP 6: grab the cellphone off of the nightstand | STEP 7: turn around and walk to the end of the room, then turn left and walk to the wall, then walk around to the other side of the wall and face the desk on the left | STEP 8: place the cellphone down on the desk next to the other one | END