Task: Put a phone in a drawer.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.900          0.75           0              0              0
   1  Bowl            -1.283         1.460          -0.515         0              0              0              35
   2  Bowl            -1.283         1.460          -1.168         0              0              0              34
   3  CD              0.227          0.680          1.393          0              0              0              42
   4  CellPhone       0.072          0.682          1.303          0              0              0              42
   5  CellPhone       -1.256         1.461          -1.519         0              0              0              34
   6  Pencil          0.368          0.677          -1.732         0              0              0              49
   7  Pen             0.227          0.686          1.167          0              0              0              42
   8  Pen             0.459          0.679          -1.586         0              0              0              49
   9  CreditCard      0.190          0.082          1.286          0              0              0              43
  10  CreditCard      -1.052         0.793          -1.671         0              0              0              50
  11  KeyChain        -1.283         1.822          -1.607         0              0              0              37
  12  Book            -1.123         0.794          -0.385         0              0              0              50
  13  AlarmClock      -1.259         0.794          -1.632         0              0              0              50
  14  AlarmClock      0.305          0.673          1.257          0              0              0              42
  15  Laptop          1.532          0.574          -0.408         0              0              0              29
  16  Book            1.243          0.578          -1.132         0              0              0              29
  17  Pencil          -0.045         0.840          -2.107         0              0              0              33
  18  Laptop          -1.005         0.780          -1.477         0              31.363         0              50
  19  Pen             -1.265         0.798          -0.600         0              0              0              50
  20  TennisRacket    -1.226         0.301          -0.069         15.000         180            180
  21  TeddyBear       1.629          0.557          -1.064         0              118.287        0              51
  22  Pillow          1.215          0.641          -1.663         0              0              0              29
  23  CellPhone       -0.523         0.794          -1.760         0              0              0              50
  24  KeyChain        -1.259         0.793          -1.760         0              0              0              50
  25  AlarmClock      -0.585         0.838          -2.107         0              0              0              33
  26  CreditCard      0.451          0.480          -1.546         0              0              0              48
  27  CD              0.247          0.373          1.238          0              0              0              44
  28  Bowl            -1.194         0.794          -1.028         0              0              0              50
  29  Bed             1.242          -0.001         -0.881         0              180            0
  30  LightSwitch     0.010          1.315          1.499          0              180            0
  31  GarbageCan      0.840          0.007          1.337          0              180            2.168
  32  HousePlant      -0.083         0.828          -2.045         0              0              0
  33  Shelf           -0.469         0.828          -2.038         0              0              0
  34  Shelf           -1.286         1.451          -1.343         0              0              0
  35  Shelf           -1.286         1.451          -0.602         0              0              0
  36  Shelf           -1.286         1.814          -0.602         0              0              0
  37  Shelf           -1.286         1.814          -1.343         0              0              0
  38  Painting        1.111          1.628          -1.865         90             0              0
  39  DeskLamp        0.473          0.669          1.350          0              0              0
  40  Mirror          -1.383         1.565          0.512          0              270            0
  41  Window          -0.472         1.396          -2.252         90             0              0
  42  SideTable       0.304          -0.001         1.225          0              180            0
  43  Drawer          0.304          0.165          1.159          0              180            0
  44  Drawer          0.304          0.457          1.159          0              180            0
  45  Blinds          -0.453         2.156          -2.242         0              0              0
  46  Safe            1.623          5.960          0.448          0              270            0
  47  Chair           -0.683         0.000          -1.326         0              217.223        0
  48  Drawer          0.416          0.532          -1.553         0              0              0
  49  SideTable       0.413          0.000          -1.684         0              0              0
  50  Desk            -0.788         0.000          -1.032         0              90             0
  51
  52  NorthWall
  53  EastWall
  54  SouthWall
  55  WestWall

Plan:
STEP 1: Move to the left and turn to face the left side of the dresser with the phone on it. | STEP 2: Pick the phone up from the dresser. | STEP 3: Back up and turn to face the side of the dresser with the lamp. | STEP 4: Open the top drawer and put the phone in and shut the drawer. | END