Task: put two phones on top of bureau

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.900          1.0            0              90             0
   1  Bowl            -1.657         0.970          0.062          0              0              0              45
   2  Vase            1.731          0.681          2.308          0              0              0              55
   3  Statue          -1.878         0.980          -0.138         0              90             0              45
   4  CD              -1.436         0.971          0.464          0              0              0              45
   5  CD              2.205          0.680          -1.581         0              0              0              58
   6  CellPhone       2.593          0.433          1.668          0              90             0              61
   7  Pen             2.360          0.686          -1.581         0              0              0              58
   8  KeyChain        -1.730         1.639          -1.959         0              90             0              39
   9  Book            -1.608         0.604          -0.721         0              0              0              46
  10  AlarmClock      -1.804         0.970          0.263          0              0              0              45
  11  Book            -1.664         0.409          -0.443         0              0              0              51
  12  KeyChain        2.128          0.434          1.590          0              90             0              61
  13  AlarmClock      -1.657         0.972          0.263          0              0              0              45
  14  Pillow          2.410          0.513          1.841          0              90             0              61
  15  Pillow          0.652          0.794          -1.531         0              0              0              27
  16  Vase            1.653          0.681          2.127          0              0              0              55
  17  Laptop          1.02           0.773          0.188          0              0              0              27
  18  Vase            -1.657         0.977          -0.742         0              0              0              45
  19  Pencil          -1.664         0.222          -0.815         0              0              0              53
  20  CreditCard      2.691          0.437          2.006          0              90             0              61
  21  Boots           -1.842         0.000          -1.077         0              135            0
  22  Pen             -1.804         0.976          -0.540         0              0              0              45
  23  CellPhone       -1.668         1.146          -1.959         0              90             0              40
  24  CD              -1.509         0.971          -0.339         0              0              0              45
  25  Bowl            -1.699         1.637          -2.415         0              90             0              39
  26  Statue          -1.699         1.156          -1.845         0              90             0              40
  27  Bed             1.017          0.003          -0.686         0              180            0
  28  HousePlant      -1.749         0.971          0.463          0              0              0
  29  GarbageCan      -1.665         -0.000         0.953          0              45             0
  30  Painting        0.381          1.976          -1.895         90             0              0
  31  Painting        0.879          1.976          -1.895         90             0              0
  32  Painting        1.373          1.976          -1.895         90             0              0
  33  LightSwitch     -0.164         1.085          2.450          0              180            0
  34  Mirror          -1.950         1.735          -0.206         0              270            0
  35  Window          -1.098         1.570          -3.230         90             0              0
  36  DeskLamp        1.404          0.668          2.209          0              0              0
  37  DeskLamp        2.596          0.668          -1.710         0              0              0
  38  Blinds          -1.062         2.361          -3.173         0              0              0
  39  Shelf           -1.675         1.871          -2.053         0              90             0
  40  Shelf           -1.675         1.383          -2.053         0              90             0
  41  Drawer          -1.715         0.832          -2.053         0              90             0
  42  ShelvingUnit    -1.723         0.007          -2.053         0              90             0
  43  Drawer          -1.713         0.339          -2.053         0              90             0
  44  Drawer          -1.629         0.104          0.243          0              90             0
  45  Dresser         -1.674         0.000          -0.153         0              90             0
  46  Drawer          -1.630         0.868          -0.550         0              90             0
  47  Drawer          -1.630         0.680          0.243          0              90             0
  48  Drawer          -1.629         0.104          -0.550         0              90             0
  49  Drawer          -1.630         0.680          -0.550         0              90             0
  50  Drawer          -1.630         0.868          0.243          0              90             0
  51  Drawer          -1.629         0.486          -0.550         0              90             0
  52  Drawer          -1.629         0.291          0.243          0              90             0
  53  Drawer          -1.629         0.291          -0.550         0              90             0
  54  Drawer          -1.630         0.486          0.243          0              90             0
  55  SideTable       1.576          -0.001         2.137          0              180            0
  56  Drawer          1.576          0.163          2.070          0              180            0
  57  Drawer          1.576          0.455          2.070          0              180            0
  58  SideTable       2.437          -0.001         -1.603         0              0              0
  59  Drawer          2.438          0.163          -1.536         0              0              0
  60  Drawer          2.438          0.455          -1.536         0              0              0
  61  ArmChair        2.393          -0.001         1.943          0              180            0
  62  NorthWall
  63  EastWall
  64  SouthWall
  65  WestWall

Plan:
STEP 1: walk to face bureau | STEP 2: pick up red phone from top of bureau | STEP 3: move to the right to face shorter bureau | STEP 4: put phone on top of bureau | STEP 5: move to face plush brown chair | STEP 6: pick up phone from chair | STEP 7: move to face shorter bureau | STEP 8: put phone on top of bureau | END