Task: Move the pencils from the trash bin and the brown dresser to put them on the white table.

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          0.909          -3.0           0              90             0
   1  CD              -3.613         0.979          -3.070         0              0              0              37
   2  CellPhone       -3.760         0.981          -3.070         0              0              0              37
   3  CellPhone       -2.770         0.620          -2.080         0              0              0              19
   4  Pencil          -1.882         0.065          -3.944         0              9.990          0              23
   5  AlarmClock      -3.687         0.981          -3.673         0              0              0              37
   6  Book            -1.066         0.800          -4.137         0              0              0              34
   7  CellPhone       -3.693         0.808          -2.997         0              0              0              44
   8  Laptop          -2.770         0.618          -1.506         0              0              0              19
   9  CreditCard      -0.274         0.188          -3.779         0              0              0              29
  10  AlarmClock      -0.329         0.542          -3.713         0              0              0              34
  11  KeyChain        -0.655         0.030          -3.811         0              0              0              29
  12  TeddyBear       -2.567         0.575          -0.386         357.948        14.682         7.781          19
  13  BaseballBat     -1.155         0.033          -3.997         90             59.999         0              Floor|-01.88|
  14  Pencil          -3.687         0.983          -3.874         0              0              0              37
  15  Pillow          -3.335         0.681          -0.415         0              0              0              19
  16  CD              -3.908         0.979          -3.271         0              0              0              37
  17  Pen             -1.270         0.805          -4.354         0              0              0              34
  18  Mug             -3.687         0.979          -3.271         0              0              0              37
  19  Bed             -2.980         0.009          -1.177         0              0              0
  20  LightSwitch     -1.620         1.351          0.0            0              180            0
  21  DeskLamp        -1.529         0.790          -4.298         0              0              0
  22  Mirror          -0.002         1.251          -2.592         0              90             0
  23  GarbageCan      -1.843         -0.017         -3.897         0              279.992        0
  24  Window          0.209          1.180          -1.504         90             270            0
  25  Drawer          -0.503         0.067          -4.188         0              180            0
  26  Drawer          -0.502         0.226          -3.799         0              0              0
  27  Drawer          -0.502         0.385          -3.799         0              0              0
  28  CoffeeTable     -0.503         0.009          -3.990         0              0              0
  29  Drawer          -0.502         0.067          -3.799         0              0              0
  30  Blinds          0.163          2.196          -1.495         0              270            0
  31  TableTopDecor   -3.586         0.996          -3.055         0              180            0
  32  Drawer          -0.503         0.385          -4.188         0              180            0
  33  Drawer          -0.503         0.226          -4.188         0              180            0
  34  Desk            -0.862         0.006          -4.028         0              0              0
  35  Drawer          -3.609         0.876          -4.055         0              90             0
  36  Drawer          -3.608         0.112          -3.261         0              90             0
  37  Dresser         -3.653         0.008          -3.658         0              90             0
  38  Drawer          -3.609         0.688          -3.261         0              90             0
  39  Drawer          -3.609         0.300          -3.261         0              90             0
  40  Drawer          -3.609         0.494          -4.055         0              90             0
  41  Drawer          -3.609         0.300          -4.055         0              90             0
  42  Drawer          -3.608         0.112          -4.055         0              90             0
  43  Drawer          -3.609         0.688          -4.055         0              90             0
  44  Drawer          -3.609         0.876          -3.261         0              90             0
  45  Drawer          -3.609         0.494          -3.261         0              90             0
  46  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: Turn around and go to the trash bin to the right of the table. | STEP 2: Pick up the pencil in the trash bin. | STEP 3: Turn left and go back to face the white table. | STEP 4: Place the pencil on the white table. | STEP 5: Turn around and go to the brown dresser in the corner of the room. | STEP 6: Pick up the pencil on top of the brown dresser. | STEP 7: Turn around and go back to face the white table. | STEP 8: Place the pencil on the white table. | END