Task: Put two cell phones into a drawer.

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          0.5            0              90             0
   1  Mug             0.255          0.671          -2.589         0              0              0              55
   2  Mug             1.536          0.798          -1.467         0              0              0              50
   3  CD              1.586          0.500          -1.376         0              0              0              44
   4  CD              1.536          0.801          -1.655         0              0              0              50
   5  CellPhone       1.658          0.801          -1.843         0              0              0              50
   6  CellPhone       -0.331         0.695          -0.146         0              0              0              30
   7  Pen             0.372          0.193          -2.530         0              0              0              60
   8  Pencil          1.680          0.659          -2.036         0              0              0              45
   9  CreditCard      1.474          0.799          -2.407         0              0              0              50
  10  CreditCard      1.493          0.014          -2.298         0              0              0              51
  11  KeyChain        1.586          0.335          -1.289         0              0              0              42
  12  Book            -0.088         0.694          -0.36          0              0              0              30
  13  AlarmClock      1.719          0.798          -2.031         0              0              0              50
  14  Laptop          -0.088         0.693          -1.001         0              0              0              30
  15  Book            -1.436         0.671          0.115          0              300.000        0              30
  16  KeyChain        1.680          0.173          -2.124         0              0              0              48
  17  AlarmClock      0.069          0.665          -2.578         0              0              0              55
  18  CreditCard      1.781          0.801          -1.843         0              0              0              50
  19  Laptop          -1.061         0.693          -0.787         0              0              0              30
  20  Pen             1.719          0.805          -2.219         0              0              0              50
  21  Pencil          1.781          0.804          -1.655         0              0              0              50
  22  BaseballBat     -1.844         0.678          -2.203         0              0              8.760          Floor|+00.01|
  23  Pillow          -1.061         0.755          -0.146         0              0              0              30
  24  Pillow          -1.508         0.685          -0.378         0              288.596        0              30
  25  TennisRacket    -1.597         0.001          -1.367         90             37.792         0              Floor|+00.01|
  26  CellPhone       1.658          0.800          -1.279         0              0              0              50
  27  CD              1.726          0.170          -1.464         0              0              0              46
  28  Mug             1.536          0.798          -2.219         0              0              0              50
  29  Mirror          3.534          1.661          -0.277         0              90             0
  30  Bed             -0.842         -0.000         -0.361         0              270            0
  31  DeskLamp        1.742          0.819          -1.394         0              358.556        0
  32  Painting        0.246          1.564          -2.665         90             0              0
  33  Painting        1.894          1.549          -2.424         90             270            0
  34  Painting        1.894          1.549          -1.289         90             270            0
  35  GarbageCan      3.378          0.000          0.220          0              0              0
  36  LightSwitch     -0.078         1.219          1.298          0              180            0
  37  Window          -0.486         1.409          -2.691         90             0              0
  38  Window          0.987          1.409          -2.691         90             0              0
  39  VacuumCleaner   -1.649         0.010          -2.440         0              42.426         0
  40  Blinds          -0.490         2.130          -2.638         0              0              0
  41  Blinds          1.011          2.130          -2.638         0              0              0
  42  Drawer          1.596          0.411          -1.459         0              270            0
  43  Drawer          1.597          0.732          -1.459         0              270            0
  44  Drawer          1.597          0.574          -1.459         0              270            0
  45  Drawer          1.597          0.732          -2.202         0              270            0
  46  Drawer          1.596          0.247          -1.459         0              270            0
  47  Drawer          1.596          0.090          -1.459         0              270            0
  48  Drawer          1.596          0.247          -2.202         0              270            0
  49  Drawer          1.596          0.411          -2.202         0              270            0
  50  Dresser         1.634          0.003          -1.830         0              270            0
  51  Drawer          1.596          0.090          -2.202         0              270            0
  52  Drawer          1.597          0.574          -2.202         0              270            0
  53  ShelvingUnit    0.249          0.003          -2.519         0              0              0
  54  Shelf           0.017          0.178          -2.511         0              0              0
  55  Shelf           0.249          0.665          -2.519         0              0              0
  56  Shelf           0.243          0.344          -2.511         0              0              0
  57  Shelf           0.474          0.344          -2.511         0              0              0
  58  Shelf           0.355          0.011          -2.511         0              0              0
  59  Shelf           0.016          0.011          -2.511         0              0              0
  60  Shelf           0.357          0.178          -2.511         0              0              0
  61  NorthWall
  62  EastWall
  63  SouthWall
  64  WestWall

Plan:
STEP 1: Turn right, then right again and go to the bed. | STEP 2: Pick up the cell phone from the bed, above the book. | STEP 3: Turn left and go to dresser with lamp on it. | STEP 4: Open left side drawer, second from top.  Put cell in the top left corner of the drawer.  Close drawer. | STEP 5: Turn left to move to center of dresser. | STEP 6: Pick up cell phone below credit card. | STEP 7: Move to left side of dresser, face dresser. | STEP 8: Open left side drawer, second from top.  Put cell phone to the right of the other cell phone.  Close drawer. | END