Task: pick up cell phone from glass table in living room, put in box, put box onto black desk

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           0.902          -3.25          0              270            0
   1  CellPhone       -1.685         0.456          4.187          0              0              0              68
   2  CreditCard      0.321          0.329          1.098          0              0              0              31
   3  RemoteControl   -1.413         0.390          5.826          0              180            0              57
   4  Box             -3.687         0.684          3.348          0              270            0              58
   5  Laptop          -2.465         0.653          -1.947         0              0              0              55
   6  Laptop          -2.465         0.653          -2.329         0              0              0              55
   7  Box             -1.556         0.945          -2.456         0              180            0              55
   8  Vase            -2.011         0.664          -1.693         0              0              0              55
   9  CellPhone       0.008          0.695          5.459          0              315            0              49
  10  WateringCan     -3.580         0.003          5.507          2.684          0              0              Floor|-04.41|
  11  KeyChain        -1.329         0.655          -2.329         0              0              0              55
  12  Vase            -4.242         0.789          1.181          0              0              0              27
  13  Vase            -4.228         0.789          0.756          0              0              0              27
  14  Laptop          -0.108         0.739          1.398          0              0              0              34
  15  Pillow          -1.913         0.446          5.916          0              180            0              57
  16  RemoteControl   -0.001         0.122          1.204          0              0              0              29
  17  CreditCard      -0.001         0.329          1.151          0              0              0              33
  18  Vase            -4.225         0.789          0.382          0              0              0              27
  19  Statue          -1.093         0.743          1.593          0              0              0              34
  20  Statue          -0.355         0.751          1.105          0              0              0              34
  21  Statue          -0.708         0.793          6.038          0              315            0              49
  22  Shelf           -4.253         2.157          0.771          0              0              0
  23  Painting        -3.368         1.741          -0.298         0              0              0
  24  Shelf           -4.253         1.306          0.771          0              0              0
  25  Painting        -1.756         1.424          -3.595         0              0              0
  26  Shelf           -4.253         1.690          0.771          0              0              0
  27  Shelf           -4.261         0.833          0.771          0              0              0
  28  Drawer          0.411          0.581          1.221          0              180            0
  29  Drawer          -0.000         0.170          1.221          0              180            0
  30  Drawer          -0.000         0.581          1.221          0              180            0
  31  Drawer          0.411          0.375          1.221          0              180            0
  32  Drawer          0.411          0.170          1.221          0              180            0
  33  Drawer          -0.000         0.375          1.221          0              180            0
  34  Desk            -0.352         0.003          1.371          0              180            0
  35  FloorLamp       0.391          -0.001         5.157          0              0              0
  36  Window          -2.828         0.470          -0.157         90             199.328        0
  37  Window          -4.410         1.702          1.787          90             270            0
  38  Window          -3.638         1.702          6.735          90             0              0
  39  Window          -4.410         1.702          2.790          90             270            0
  40  Window          -2.827         1.702          -0.157         90             199.328        0
  41  Window          -0.131         1.702          6.735          90             0              0
  42  Window          -1.013         1.702          -0.154         90             159.633        0
  43  Window          -4.410         1.702          5.980          90             270            0
  44  Television      -0.153         1.176          5.790          0              225            0
  45  GarbageCan      0.357          0.003          2.159          0              90             0
  46  DeskLamp        0.277          0.735          1.381          0              0              0
  47  HousePlant      -1.819         0.641          -2.011         0              315            0
  48  LightSwitch     -2.740         1.495          -0.405         0              180            0
  49  TVStand         -0.118         0.001          5.874          0              45             0
  50  Chair           -1.353         0.002          -2.872         0              349.207        0
  51  Chair           -2.220         0.002          -1.298         0              168.118        0
  52  Chair           -1.515         0.007          -1.331         358.639        187.454        0
  53  Chair           -2.189         0.002          -2.835         0              2.328          0
  54  Safe            0.174          0.001          -0.071         0              323.940        0
  55  DiningTable     -1.783         0.003          -2.039         0              0              0
  56  Chair           -0.636         0.010          0.993          0              358.396        0
  57  Sofa            -2.161         0.006          6.115          0              180            0
  58  Sofa            -3.782         0.006          4.153          0              90             0
  59  Shelf           -1.095         0.607          1.321          0              180            0
  60  Shelf           -1.267         0.607          1.321          0              180            0
  61  Shelf           -1.267         0.401          1.321          0              180            0
  62  Shelf           -1.095         0.196          1.320          0              180            0
  63  Shelf           -1.095         0.401          1.321          0              180            0
  64  Shelf           -1.267         0.196          1.320          0              180            0
  65  ArmChair        -2.628         0.009          2.421          0              0              0
  66  Chair           -0.485         0.010          4.452          0              270            0
  67  Chair           -0.431         0.010          3.595          0              270            0
  68  CoffeeTable     -1.965         0.000          4.187          0              0              0
  69  NorthWall
  70  EastWall
  71  SouthWall
  72  WestWall

Plan:
STEP 1: turn right, walk around table, turn left, walk around table, turn left, walk around table, turn right and walk out of dining room, walk straight into living room, turn right at glass table, turn left and face glass table with two red chairs behind | STEP 2: pick up cell phone from on the table | STEP 3: walk around the glass table and face box on grey couch in front | STEP 4: put phone into the box on the couch | STEP 5: pick up the box from on the couch | STEP 6: turn left, and walk straight to black desk, face black desk | STEP 7: put box on desk to the left of the hand statue | END