Task: Move two pencils from a wastebasket to a table in a bedroom.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.909          -3.0           0              90             0
   1  CD              -0.249         0.799          -4.029         0              0              0              34
   2  CD              -3.637         0.045          -3.790         0              0              0              42
   3  Pencil          -1.878         0.065          -3.920         0              9.990          0              23
   4  AlarmClock      -3.834         0.979          -3.673         0              0              0              37
   5  AlarmClock      -3.687         0.981          -3.472         0              0              0              37
   6  Book            -0.862         0.804          -4.029         0              0              0              34
   7  CellPhone       -2.559         0.620          -0.643         0              0              0              19
   8  Laptop          -2.981         0.618          -0.931         0              0              0              19
   9  CreditCard      -3.582         0.614          -4.255         0              0              0              43
  10  AlarmClock      -3.7           0.973          -3.093         0              56.085         0              37
  11  KeyChain        -0.240         0.543          -3.694         0              0              0              28
  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          -1.874         0.066          -3.897         0              9.990          0              23
  15  Pillow          -3.335         0.681          -0.415         0              0              0              19
  16  CD              -1.066         0.799          -4.137         0              0              0              34
  17  Pen             -0.453         0.805          -4.246         0              0              0              34
  18  Mug             -3.687         0.977          -4.276         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: Face the opposite direction and go beyond the end of the table to your left, then turn to face the end of the table with the lamp. | STEP 2: Take a pencil out of the wastebasket under the end of the table. | STEP 3: Go around clockwise to the center of the table. | STEP 4: Put the pencil on the table to the right of the brown drawers, a few inches from the front edge, parallel with the edge. | STEP 5: Go back to the wastebasket at the end of the table. | STEP 6: Take another pencil out of the wastebasket. | STEP 7: Carry the pencil to the front of the table. | STEP 8: Put the pencil on the table, touching the back center of the other pencil, and pointing toward the wall. | END