Task: Place a phone in a safe

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.25           0.900          -2.25          0              180            0
   1  Mug             2.039          0.894          -2.975         0              0              0              39
   2  Mug             1.867          0.894          -3.044         0              0              0              39
   3  CD              -2.484         0.680          -3.227         0              90             0              41
   4  CellPhone       2.779          1.228          1.168          0              270            0              46
   5  CellPhone       2.779          1.228          1.283          0              270            0              46
   6  Pencil          -2.575         0.685          -3.227         0              90             0              41
   7  Pencil          1.694          0.901          -2.975         0              0              0              39
   8  KeyChain        2.039          0.896          -3.320         0              0              0              39
   9  KeyChain        2.544          1.228          1.283          0              270            0              46
  10  AlarmClock      2.732          1.232          1.511          0              270            0              46
  11  Laptop          -1.308         0.617          -2.261         0              0              0              26
  12  Book            2.351          0.889          -3.157         0              195.000        0              39
  13  CreditCard      2.608          0.924          1.764          0              270            0              44
  14  Pen             -2.394         0.679          -0.359         0              90             0              48
  15  Pencil          -2.575         0.685          -0.436         0              90             0              48
  16  TeddyBear       -0.667         0.612          -1.364         0              81.467         0              26
  17  Laptop          -1.31          0.612          -1.542         0              0              0              26
  18  AlarmClock      -2.447         0.674          -2.988         0              0              0              41
  19  CellPhone       -2.452         0.374          -0.628         0              270            0              50
  20  KeyChain        2.007          0.361          -3.101         0              0              0              36
  21  Pillow          -2.124         0.658          -1.522         0              28.296         0              26
  22  Pillow          -2.378         0.637          -2.330         0              0              0              26
  23  CD              -2.394         0.674          -0.281         0              90             0              48
  24  Mug             -2.394         0.679          -0.668         0              180            0              48
  25  Bowl            1.840          0.889          -3.239         0              0              0              39
  26  Bed             -1.613         -0.028         -1.861         0              270            0
  27  DeskLamp        2.760          0.890          -3.317         0              90             0
  28  DeskLamp        -2.459         0.668          -0.532         0              90             0
  29  LightSwitch     -0.700         1.016          0.334          0              90             0
  30  GarbageCan      1.343          1.087          -3.374         0              0              0
  31  Mirror          0.532          1.419          2.0            0              0              0
  32  Window          -0.834         1.394          -3.653         90             0              0
  33  Window          2.958          1.508          -1.019         90             270            0
  34  Sofa            2.383          0.008          -0.288         0              270            0
  35  Safe            2.721          1.228          1.784          0              270            0
  36  Drawer          1.979          0.486          -2.988         0              0              0
  37  Drawer          1.979          0.728          -2.988         0              0              0
  38  Drawer          1.979          0.208          -2.988         0              0              0
  39  Desk            2.318          -0.009         -3.214         0              0              0
  40  Drawer          -2.349         0.163          -3.150         0              90             0
  41  SideTable       -2.416         -0.001         -3.149         0              90             0
  42  Drawer          -2.349         0.455          -3.150         0              90             0
  43  Drawer          2.641          0.172          1.511          0              270            0
  44  Drawer          2.641          1.002          1.511          0              270            0
  45  Drawer          2.641          0.448          1.511          0              270            0
  46  Dresser         2.676          0.002          1.511          0              270            0
  47  Drawer          2.641          0.725          1.511          0              270            0
  48  SideTable       -2.416         -0.001         -0.514         0              90             0
  49  Drawer          -2.349         0.163          -0.514         0              90             0
  50  Drawer          -2.349         0.455          -0.514         0              90             0
  51  Blinds          -0.800         2.087          -3.627         0              0              0
  52  Blinds          2.931          2.166          -1.0           0              270            0
  53  Chair           2.574          0.002          -2.881         0              175.162        0
  54  NorthWall
  55  EastWall
  56  SouthWall
  57  WestWall

Plan:
STEP 1: Turn around and cross the room then hang right and walk to the dresser | STEP 2: Pick up the cell phone that is on the right; the one that is closer to the right edge of the dresser | STEP 3: Take a step to the left and continue to face the dresser | STEP 4: Open the white safe that is sitting on top of the dresser and place the phone inside then close the safe | END