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           -1.5           0.900          2.0            0              180            0
   1  Bowl            -1.699         1.146          -2.073         0              90             0              35
   2  CellPhone       1.261          0.775          0.188          0              0              0              22
   3  CellPhone       2.407          0.433          1.586          0              90             0              56
   4  Laptop          1.743          0.773          -0.401         0              0              0              22
   5  Laptop          1.02           0.773          -0.106         0              0              0              22
   6  Book            0.296          0.774          -0.401         0              0              0              22
   7  KeyChain        -1.657         0.973          -0.540         0              0              0              40
   8  AlarmClock      -1.730         1.146          -1.731         0              90             0              35
   9  Pillow          0.296          0.836          0.188          0              0              0              22
  10  Pillow          0.652          0.794          -1.531         0              0              0              22
  11  Vase            -1.699         1.147          -2.415         0              90             0              35
  12  Laptop          -1.628         0.965          0.084          0              104.999        0              40
  13  Vase            -1.699         1.642          -1.959         0              90             0              34
  14  Pencil          -1.668         1.151          -1.959         0              90             0              35
  15  CreditCard      -1.436         0.970          0.464          0              0              0              40
  16  Boots           -1.842         0.000          -1.077         0              135            0
  17  Pen             1.731          0.686          2.308          0              0              0              50
  18  CellPhone       2.691          0.438          2.006          0              90             0              56
  19  CD              -1.608         0.605          0.072          0              0              0              42
  20  Bowl            1.576          0.681          2.172          0              0              0              50
  21  Statue          -1.764         0.965          -0.758         0              59.718         0              40
  22  Bed             1.017          0.003          -0.686         0              180            0
  23  HousePlant      -1.749         0.971          0.463          0              0              0
  24  GarbageCan      -1.665         -0.000         0.953          0              45             0
  25  Painting        0.381          1.976          -1.895         90             0              0
  26  Painting        0.879          1.976          -1.895         90             0              0
  27  Painting        1.373          1.976          -1.895         90             0              0
  28  LightSwitch     -0.164         1.085          2.450          0              180            0
  29  Mirror          -1.950         1.735          -0.206         0              270            0
  30  Window          -1.098         1.570          -3.230         90             0              0
  31  DeskLamp        1.404          0.668          2.209          0              0              0
  32  DeskLamp        2.596          0.668          -1.710         0              0              0
  33  Blinds          -1.062         2.361          -3.173         0              0              0
  34  Shelf           -1.675         1.871          -2.053         0              90             0
  35  Shelf           -1.675         1.383          -2.053         0              90             0
  36  Drawer          -1.715         0.832          -2.053         0              90             0
  37  ShelvingUnit    -1.723         0.007          -2.053         0              90             0
  38  Drawer          -1.713         0.339          -2.053         0              90             0
  39  Drawer          -1.629         0.104          0.243          0              90             0
  40  Dresser         -1.674         0.000          -0.153         0              90             0
  41  Drawer          -1.630         0.868          -0.550         0              90             0
  42  Drawer          -1.630         0.680          0.243          0              90             0
  43  Drawer          -1.629         0.104          -0.550         0              90             0
  44  Drawer          -1.630         0.680          -0.550         0              90             0
  45  Drawer          -1.630         0.868          0.243          0              90             0
  46  Drawer          -1.629         0.486          -0.550         0              90             0
  47  Drawer          -1.629         0.291          0.243          0              90             0
  48  Drawer          -1.629         0.291          -0.550         0              90             0
  49  Drawer          -1.630         0.486          0.243          0              90             0
  50  SideTable       1.576          -0.001         2.137          0              180            0
  51  Drawer          1.576          0.163          2.070          0              180            0
  52  Drawer          1.576          0.455          2.070          0              180            0
  53  SideTable       2.437          -0.001         -1.603         0              0              0
  54  Drawer          2.438          0.163          -1.536         0              0              0
  55  Drawer          2.438          0.455          -1.536         0              0              0
  56  ArmChair        2.393          -0.001         1.943          0              180            0
  57  NorthWall
  58  EastWall
  59  SouthWall
  60  WestWall

Plan:
STEP 1: walk to face brown corner chair | STEP 2: pick up phone from chair | STEP 3: walk over to face the bureau | STEP 4: put the phone on top of bureau | STEP 5: walk to face bed edge | STEP 6: pick up phone from bed | STEP 7: walk over to face the bureau | STEP 8: put the phone on top of bureau | END