Task: Put a phone on a shelf.

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          -0.5           0              0              0
   1  Mug             0.494          0.699          -1.814         0              180            0              52
   2  TissueBox       0.741          0.705          -1.716         0              180            0              52
   3  CD              -0.545         0.046          0.8            0              0              0              37
   4  CD              1.486          0.708          -0.306         0              0              0              44
   5  CellPhone       1.233          0.707          -1.326         0              180            0              52
   6  CellPhone       -1.777         0.530          -0.326         0              0              0              35
   7  CellPhone       -1.336         0.530          -0.570         0              0              0              35
   8  Pen             1.541          0.493          -0.604         0              270            0              45
   9  Pen             -0.028         0.295          -1.479         0              180            0              51
  10  Pencil          1.469          1.415          0.779          0              270            0              44
  11  Pencil          1.511          0.492          -0.394         0              270            0              45
  12  CreditCard      1.572          0.488          -0.464         0              270            0              45
  13  CreditCard      0.341          0.497          -1.319         0              180            0              53
  14  Book            -1.777         0.527          -0.082         0              0              0              35
  15  Book            -1.630         0.527          0.648          0              0              0              35
  16  KeyChain        -0.120         0.497          -1.585         0              180            0              47
  17  Pillow          -1.630         0.598          -0.570         0              0              0              35
  18  Box             1.537          1.652          0.692          0              0              0              38
  19  Book            -1.336         0.527          0.404          0              0              0              35
  20  AlarmClock      1.535          0.700          -0.490         0              270            0              44
  21  CellPhone       0.248          0.707          -1.716         0              180            0              52
  22  TissueBox       0.987          0.705          -1.423         0              180            0              52
  23  TeddyBear       -2.204         0.500          0.181          355.000        297.467        9.162          35
  24  CreditCard      -0.166         0.081          -1.372         0              180            0              49
  25  KeyChain        -0.166         0.290          -1.372         0              180            0              51
  26  BaseballBat     -2.202         0.04           -1.343         0              45             90             Floor|+00.00|
  27  TennisRacket    -2.254         0.324          -1.806         15.000         180            180            Floor|+00.00|
  28  Pillow          -2.039         0.545          0.677          0              0              0              35
  29  Laptop          0.037          0.694          -1.459         0              348.828        0              52
  30  CD              1.638          0.708          -0.623         0              0              0              44
  31  Pen             0.018          0.503          -1.532         0              180            0              47
  32  Pencil          1.479          0.707          -1.326         0              180            0              52
  33  Mug             1.510          1.409          0.393          0              270            0              44
  34  Mirror          -0.689         1.495          0.954          0              0              0
  35  Bed             -1.742         0.000          -0.071         0              0              0
  36  Chair           0.891          -0.001         -1.251         0              175.104        0
  37  GarbageCan      -0.606         -0.021         0.799          0              0              0
  38  ShelvingUnit    1.550          1.402          0.374          0              270            0
  39  Painting        -2.401         1.700          -0.859         90             90             0
  40  DeskLamp        1.291          0.699          -1.717         0              0              0
  41  LightSwitch     0.231          1.287          0.954          0              180            0
  42  HousePlant      1.488          1.394          0.035          0              122.291        0
  43  Window          0.046          1.559          -2.079         90             180            0
  44  SideTable       1.561          0.000          -0.465         0              270            0
  45  Shelf           1.541          0.493          -0.475         0              270            0
  46  Blinds          0.007          2.152          -2.014         0              0              0
  47  Drawer          -0.156         0.547          -1.430         0              0              0
  48  Drawer          0.270          0.159          -1.430         0              0              0
  49  Drawer          -0.156         0.159          -1.430         0              0              0
  50  Drawer          0.270          0.353          -1.430         0              0              0
  51  Drawer          -0.156         0.353          -1.430         0              0              0
  52  Desk            0.634          0.002          -1.557         0              0              0
  53  Drawer          0.270          0.547          -1.430         0              0              0
  54  Shelf           1.406          0.571          -1.514         0              0              0
  55  Shelf           1.406          0.183          -1.514         0              0              0
  56  Shelf           1.584          0.183          -1.514         0              0              0
  57  Shelf           1.406          0.377          -1.514         0              0              0
  58  Shelf           1.584          0.377          -1.514         0              0              0
  59  Shelf           1.584          0.571          -1.514         0              0              0
  60  NorthWall
  61  EastWall
  62  SouthWall
  63  WestWall

Plan:
STEP 1: Turn to the right and then right again to face the black desk. | STEP 2: Pick the phone up from the desk. | STEP 3: Turn around and face the small cabinet with discs on it to the left. | STEP 4: Put the phone on the shelf below the disc. | END