Task: Place a cell phone on a dresser.

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           0.901          0.5            0              180            0
   1  CD              -2.185         0.058          -1.826         0              77.664         0              30
   2  CD              1.540          0.040          -2.081         0              88.075         0              52
   3  CellPhone       1.145          0.418          -0.247         0              0              0              49
   4  CellPhone       1.887          0.418          0.252          0              0              0              49
   5  CellPhone       1.640          0.418          -0.080         0              0              0              49
   6  Pen             -0.300         0.806          -1.768         0              270            0              43
   7  Pen             0.402          0.977          -1.705         0              270            0              39
   8  Pencil          0.402          0.975          -1.557         0              270            0              39
   9  Pencil          -0.580         0.609          -1.712         0              270            0              38
  10  KeyChain        -0.207         0.037          -1.711         0              270            0              40
  11  KeyChain        0.119          0.217          -1.768         0              270            0              46
  12  Pillow          0.897          0.477          0.252          0              0              0              49
  13  Box             -1.751         0.252          1.499          0              340.773        0              Floor|+00.00|
  14  Book            0.491          0.801          -1.655         0              270            0              41
  15  Cloth           -1.146         0.000          -2.123         0              0              0              Floor|+00.00|
  16  CellPhone       1.648          0.043          -2.130         0              88.075         0              52
  17  Pencil          0.491          0.039          -1.542         0              270            0              45
  18  AlarmClock      2.153          0.565          1.23           0              213.033        0              37
  19  TeddyBear       -2.236         0.000          1.457          0              319.128        0              Floor|+00.00|
  20  CreditCard      -0.200         0.972          -1.852         0              270            0              39
  21  KeyChain        0.491          0.036          -1.824         0              0              0              45
  22  Pillow          1.392          0.477          0.419          0              0              0              49
  23  Pillow          2.15           0.433          -0.241         0              282.078        0              49
  24  Laptop          -0.5           0.965          -1.715         0              24.156         0              39
  25  Bowl            0.604          0.972          -1.557         0              270            0              39
  26  Cloth           -1.288         0.000          -1.936         0              357.341        356.936        Floor|+00.00|
  27  CD              2.298          0.572          1.294          0              180            0              37
  28  Pen             0.490          0.415          -1.600         0              270            0              48
  29  DeskLamp        2.302          0.561          1.435          0              315            0
  30  GarbageCan      -2.208         -0.023         -1.742         0              77.663         0
  31  Poster          2.439          1.508          0.014          90             270            0
  32  LightSwitch     -2.457         1.274          -0.096         0              90             0
  33  Mirror          2.454          1.322          -1.414         0              90             0
  34  Window          -1.440         1.815          -2.354         90             0              0
  35  Window          1.401          1.815          -2.354         90             0              0
  36  Drawer          2.251          0.468          1.333          0              270            0
  37  SideTable       2.243          -0.001         1.331          0              270            0
  38  Drawer          -0.385         0.681          -1.631         0              0              0
  39  Dresser         0.011          0.001          -1.676         0              0              0
  40  Drawer          -0.385         0.105          -1.631         0              0              0
  41  Drawer          0.408          0.868          -1.632         0              0              0
  42  Drawer          -0.385         0.487          -1.631         0              0              0
  43  Drawer          -0.385         0.868          -1.632         0              0              0
  44  Drawer          0.408          0.681          -1.631         0              0              0
  45  Drawer          0.408          0.105          -1.631         0              0              0
  46  Drawer          0.408          0.292          -1.631         0              0              0
  47  Drawer          -0.385         0.292          -1.631         0              0              0
  48  Drawer          0.408          0.487          -1.631         0              0              0
  49  Bed             1.377          0.004          0.072          0              90             0
  50  Blinds          1.422          3.115          -2.339         0              0              0
  51  Blinds          -1.422         3.115          -2.339         0              0              0
  52  Safe            1.640          0.000          -2.040         0              355.244        0
  53  LaundryHamper   -1.564         0.001          -1.927         0              45             0
  54  NorthWall
  55  EastWall
  56  SouthWall
  57  WestWall

Plan:
STEP 1: Turn left and walk around the bed to the side near the safe.   | STEP 2: Pick up the cell phone closest to the foot of the bed. | STEP 3: Turn around and take a step right to face the dresser. | STEP 4: Place the phone on the dresser to the right of the pencil. | END