Task: Put two cellphones, standing vertically, on a nightstand.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.900          -0.75          0              0              0
   1  CD              -0.705         0.837          -1.861         0              0              0              39
   2  CD              -1.396         0.837          -1.645         0              0              0              39
   3  CellPhone       1.152          0.647          0.418          0              0              0              26
   4  CellPhone       -0.901         1.349          -2.222         0              0              0              42
   5  Pen             -0.474         0.843          -2.293         0              0              0              39
   6  Pencil          -0.934         1.350          -2.172         0              0              0              42
   7  Pencil          1.615          0.085          -0.988         0              90             0              33
   8  CreditCard      1.568          0.374          -1.102         0              90             0              32
   9  CreditCard      1.592          0.374          -0.988         0              90             0              32
  10  Book            -0.935         0.839          -1.753         0              0              0              39
  11  Book            1.152          0.646          -0.120         0              0              0              26
  12  Box             -0.424         2.065          -2.027         0              352.503        0              39
  13  Pillow          0.584          0.739          0.777          0              0              0              26
  14  AlarmClock      -1.626         0.837          -1.969         0              0              0              39
  15  BasketBall      -0.337         0.120          1.031          0              0              0              Floor|-00.16|
  16  BaseballBat     -1.602         0.022          0.356          90             8.736          0              Floor|-00.16|
  17  Pen             -1.396         0.843          -2.293         0              0              0              39
  18  CellPhone       0.300          0.647          0.418          0              0              0              26
  19  TennisRacket    -1.667         0.0            0.818          90             29.999         0              Floor|-00.16|
  20  Laptop          1.436          0.643          0.418          0              0              0              26
  21  Pencil          1.671          0.684          -1.220         0              0              0              34
  22  KeyChain        1.626          0.681          -1.065         0              270            0              34
  23  CreditCard      -0.868         1.347          -2.123         0              0              0              42
  24  CD              -1.656         1.345          -2.082         0              0              0              38
  25  Mirror          0.883          1.582          -2.399         0              180            0
  26  Bed             1.176          -0.002         0.238          0              90             0
  27  LightSwitch     1.899          1.297          -1.302         0              270            0
  28  Poster          -1.927         1.411          -1.455         90             90             0
  29  GarbageCan      0.128          -0.030         -2.146         0              90             0
  30  Window          -2.028         1.388          -0.270         90             270            0
  31  DeskLamp        -1.673         1.774          -2.190         0              0              0
  32  Drawer          1.624          0.453          -0.987         0              270            0
  33  Drawer          1.624          0.163          -0.987         0              270            0
  34  SideTable       1.691          0.002          -0.988         0              270            0
  35  Chair           -1.089         0.009          -1.570         0              166.824        0
  36  Blinds          -1.949         2.158          -0.252         0              90             0
  37  Cabinet         -0.241         1.534          -2.101         0              0              0
  38  Cabinet         -1.301         1.534          -2.101         0              0              0
  39  Desk            -0.962         0.003          -1.942         0              0              0
  40  Cabinet         -1.683         1.534          -2.101         0              0              0
  41  Cabinet         -0.623         1.534          -2.101         0              0              0
  42  Shelf           -0.962         1.534          -2.101         0              0              0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: Turn right and take two steps, turn left facing the bed. | STEP 2: Turn right and take two steps, turn left facing the bed. | STEP 3: Pick up the smartphone from the bed. | STEP 4: Put the smartphone on the nightstand, standing vertically in front of the keys, with the screen facing away from the wall. | STEP 5: Turn around and walk eight steps, turn left to face the desk. | STEP 6: Grab the smartphone in the opening in the hutch. | STEP 7: Turn left and walk to the nightstand. | STEP 8: Put the smartphone to the right of the smartphone on the nightstand, vertical and screen forward. | END