Task: Put two phones on the desk

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.5            0.899          -2.25          0              180            0
   1  Watch           3.147          0.793          -2.250         0              0              0              59
   2  CellPhone       -1.383         0.614          0.381          0              180            0              63
   3  Pen             -1.453         0.619          0.462          0              180            0              63
   4  CreditCard      0.922          1.413          -2.283         0              270            0              38
   5  KeyChain        3.209          0.794          -1.403         0              0              0              59
   6  Book            -2.916         0.599          -1.160         0              0              0              31
   7  AlarmClock      3.024          0.794          -1.968         0              0              0              59
   8  AlarmClock      3.024          0.794          -2.250         0              0              0              59
   9  Laptop          -0.479         0.614          -1.160         0              0              0              32
  10  Book            -2.916         0.599          0.245          0              0              0              31
  11  Laptop          -0.479         0.614          -0.598         0              0              0              32
  12  KeyChain        0.954          1.414          -2.586         0              0              0              46
  13  Cloth           0.970          -0.001         -2.404         0              0              0
  14  BaseballBat     -2.982         0.015          -2.698         270            350.597        0
  15  BasketBall      -2.718         0.118          -1.925         0              0              0
  16  Pillow          -2.465         0.661          0.110          0              0              0              31
  17  Pillow          -0.626         0.650          0.129          0              0              0              32
  18  TennisRacket    -3.018         0.301          -2.199         19.103         272.232        184.978
  19  Pencil          3.086          0.797          -1.686         0              0              0              59
  20  CreditCard      -1.592         0.613          0.381          0              180            0              63
  21  Cloth           0.911          0.025          -2.702         0              0              0
  22  TeddyBear       -2.645         0.624          -0.402         0              286.876        0              31
  23  Pen             1.715          0.043          -2.770         0              59.999         0              35
  24  Cloth           0.705          -0.001         -2.75          0              270            0
  25  AlarmClock      0.922          1.142          -2.854         0              270            0              41
  26  Watch           -1.369         0.338          0.350          0              0              0              61
  27  CellPhone       0.922          1.413          -1.668         0              270            0              44
  28  CD              3.271          0.791          -2.250         0              0              0              59
  29  Mug             3.017          0.538          -0.552         0              270            0              57
  30  Bowl            -2.948         1.413          -2.621         0              90             0              43
  31  Bed             -2.455         -0.000         -0.572         0              0              0
  32  Bed             -0.634         -0.000         -0.567         0              0              0
  33  Chair           2.828          -0.002         -0.004         0              245.795        0
  34  Chair           2.727          -0.002         -1.210         0              95.225         0
  35  GarbageCan      1.707          -0.003         -2.785         0              59.967         0
  36  Shelf           0.922          1.133          -2.163         0              270            0
  37  Shelf           -2.948         1.405          -1.621         0              90             0
  38  Shelf           0.922          1.405          -2.163         0              270            0
  39  Shelf           -2.948         1.133          -2.188         0              90             0
  40  Shelf           -2.948         1.405          -2.188         0              90             0
  41  Shelf           0.922          1.133          -2.729         0              270            0
  42  Shelf           0.922          1.133          -1.616         0              270            0
  43  Shelf           -2.948         1.405          -2.735         0              90             0
  44  Shelf           0.922          1.405          -1.616         0              270            0
  45  Shelf           -2.948         1.133          -2.735         0              90             0
  46  Shelf           0.922          1.405          -2.729         0              270            0
  47  Shelf           -2.948         1.133          -1.621         0              90             0
  48  LightSwitch     -0.142         1.328          0.600          0              180            0
  49  Poster          3.400          1.863          -1.976         90             90             0
  50  Poster          3.400          1.702          -0.792         90             90             0
  51  DeskLamp        3.126          0.789          -0.638         0              3.649          0
  52  Mirror          0.453          1.491          0.616          0              0              0
  53  Window          2.278          0.925          -3.184         90             0              0
  54  Window          -1.019         0.925          -3.184         90             0              0
  55  Blinds          -1.003         2.072          -3.177         0              0              0
  56  Blinds          2.292          2.072          -3.177         0              0              0
  57  Shelf           3.124          0.633          -0.564         0              270            0
  58  Shelf           3.124          0.633          -2.267         0              270            0
  59  Desk            3.141          -0.000         -1.414         0              270            0
  60  Desktop         3.101          0.792          -1.236         358.565        270            0
  61  Drawer          -1.523         0.408          0.346          0              180            0
  62  Drawer          -1.523         0.141          0.346          0              180            0
  63  SideTable       -1.522         -0.001         0.411          0              180            0
  64  NorthWall
  65  EastWall
  66  SouthWall
  67  WestWall

Plan:
STEP 1: Turn to your right then walk straight, then turn left and turn right facing the shelf | STEP 2: Pick up the phone on the shelf | STEP 3: Turn to your left, then right, head to the desk | STEP 4: Put the phone on the desk | STEP 5: Turn around to your left then head to beds. Walk in between the two beds | STEP 6: Pick up the phone on the side table | STEP 7: Turn around to your right walk straight and head to the desk | STEP 8: Put the phone on the left side of the other phone at the top of the desk | END