Task: put two cell phones in to the top 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           1.5            0.901          2.5            0              0              0
   1  Mug             -0.817         0.063          2.452          0              0              0              32
   2  Mug             -0.961         0.675          2.177          0              90             0              33
   3  CD              -0.668         0.978          -1.603         0              0              0              48
   4  CD              -0.513         0.677          1.245          0              90             0              33
   5  CellPhone       -0.782         0.679          2.364          0              90             0              33
   6  Pen             -0.423         0.683          1.431          0              90             0              33
   7  Pencil          2.062          0.072          -1.229         0              270            0              27
   8  Pencil          -0.423         0.681          2.177          0              90             0              33
   9  CreditCard      1.587          0.432          1.326          0              180            0              60
  10  Pillow          -1.002         1.585          -0.942         0              0              0              47
  11  Book            1.710          0.729          -0.256         0              0              0              57
  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             -0.703         0.422          -1.486         0              0              0              51
  15  AlarmClock      -0.513         0.678          1.618          0              90             0              33
  16  Pillow          -0.632         1.922          1.631          0              0              0              52
  17  Pillow          -0.829         1.549          -1.533         0              0              0              47
  18  CellPhone       -0.574         0.670          2.815          0              90             0              43
  19  KeyChain        -0.761         0.669          3.162          0              90             0              43
  20  CreditCard      1.502          0.314          -0.362         0              90             0              59
  21  CD              1.905          0.726          -0.256         0              270            0              57
  22  Pencil          -0.692         0.681          2.364          0              90             0              33
  23  Laptop          1.612          0.724          0.236          0              270            0              57
  24  Mug             2.003          0.724          -0.010         0              270            0              57
  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: turn to the left and move forward to the desk | STEP 2: pick up the white cell phone from the right upper corner of the desk | STEP 3: move back slightly to access the drawers to the right of the chair of the desk | STEP 4: open the drawer and put the cell phone inside and close the drawer | STEP 5: move to the right to face the set of drawers to the right of the desk | STEP 6: pick up the cell phone from the top of the set of drawers | STEP 7: move to the left to face the desk drawers that are to the right of the chair sitting at the desk | STEP 8: open the top drawer and put the cell phone inside to the left of the other cell phone, close the drawer | END