Task: Put two cell phones in the drawer.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.902          -2.0           0              270            0
   1  Mug             1.781          0.799          -2.219         0              0              0              44
   2  Mug             1.842          0.799          -1.279         0              90             0              44
   3  CellPhone       1.536          0.800          -1.279         0              0              0              44
   4  CellPhone       1.474          0.801          -1.655         0              0              0              44
   5  Pencil          0.318          0.192          -2.530         0              0              0              54
   6  Pencil          1.586          0.338          -1.376         0              0              0              36
   7  CreditCard      1.680          0.014          -1.638         0              0              0              41
   8  KeyChain        1.586          0.015          -1.638         0              0              0              41
   9  Book            -0.574         0.694          0.281          0              0              0              24
  10  KeyChain        1.726          0.657          -1.638         0              0              0              37
  11  AlarmClock      0.069          0.665          -2.578         0              0              0              49
  12  CreditCard      1.536          0.801          -2.407         0              0              0              44
  13  Laptop          -1.061         0.693          -0.36          0              0              0              24
  14  Pen             1.597          0.805          -2.219         0              0              0              44
  15  Pencil          1.536          0.804          -1.467         0              0              0              44
  16  BaseballBat     -1.844         0.678          -2.203         0              0              8.760          Floor|+00.01|
  17  Pillow          -1.489         0.685          -0.854         0              345.000        0              24
  18  Pillow          -0.088         0.755          -1.001         0              0              0              24
  19  TennisRacket    -1.597         0.001          -1.367         90             37.792         0              Floor|+00.01|
  20  CellPhone       1.536          0.801          -2.219         0              0              0              44
  21  CD              1.540          0.500          -1.726         0              0              0              38
  22  Mug             0.513          0.671          -2.608         0              0              0              49
  23  Mirror          3.534          1.661          -0.277         0              90             0
  24  Bed             -0.842         -0.000         -0.361         0              270            0
  25  DeskLamp        1.742          0.819          -1.394         0              358.556        0
  26  Painting        0.246          1.564          -2.665         90             0              0
  27  Painting        1.894          1.549          -2.424         90             270            0
  28  Painting        1.894          1.549          -1.289         90             270            0
  29  GarbageCan      3.378          0.000          0.220          0              0              0
  30  LightSwitch     -0.078         1.219          1.298          0              180            0
  31  Window          -0.486         1.409          -2.691         90             0              0
  32  Window          0.987          1.409          -2.691         90             0              0
  33  VacuumCleaner   -1.649         0.010          -2.440         0              42.426         0
  34  Blinds          -0.490         2.130          -2.638         0              0              0
  35  Blinds          1.011          2.130          -2.638         0              0              0
  36  Drawer          1.596          0.411          -1.459         0              270            0
  37  Drawer          1.597          0.732          -1.459         0              270            0
  38  Drawer          1.597          0.574          -1.459         0              270            0
  39  Drawer          1.597          0.732          -2.202         0              270            0
  40  Drawer          1.596          0.247          -1.459         0              270            0
  41  Drawer          1.596          0.090          -1.459         0              270            0
  42  Drawer          1.596          0.247          -2.202         0              270            0
  43  Drawer          1.596          0.411          -2.202         0              270            0
  44  Dresser         1.634          0.003          -1.830         0              270            0
  45  Drawer          1.596          0.090          -2.202         0              270            0
  46  Drawer          1.597          0.574          -2.202         0              270            0
  47  ShelvingUnit    0.249          0.003          -2.519         0              0              0
  48  Shelf           0.017          0.178          -2.511         0              0              0
  49  Shelf           0.249          0.665          -2.519         0              0              0
  50  Shelf           0.243          0.344          -2.511         0              0              0
  51  Shelf           0.474          0.344          -2.511         0              0              0
  52  Shelf           0.355          0.011          -2.511         0              0              0
  53  Shelf           0.016          0.011          -2.511         0              0              0
  54  Shelf           0.357          0.178          -2.511         0              0              0
  55  NorthWall
  56  EastWall
  57  SouthWall
  58  WestWall

Plan:
STEP 1: Turn around and go straight, to the dresser. | STEP 2: Pick up the cell phone on the dresser, to the left of the credit card. | STEP 3: Turn around, move forward, turn right, then turn right to face the dresser. | STEP 4: Put the cell phone in the bottom right dresser drawer. | STEP 5: Move forward to the dresser. | STEP 6: Pick up the cell phone, to the right of the pencil. | STEP 7: Turn around, move forward, turn right, then turn right to face the dresser. | STEP 8: Put the cell phone in the bottom right dresser drawer, to the right of the other cell phone. | END