Task: Place a pencil on top of the wood drawer unit

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.909          -1.0           0              90             0
   1  CellPhone       -0.453         0.803          -3.811         0              0              0              37
   2  CellPhone       -3.750         0.226          -4.163         0              0              0              44
   3  Pen             -3.524         0.051          -4.257         0              0              0              45
   4  Pen             -3.694         0.231          -3.185         0              0              0              42
   5  KeyChain        -3.467         0.810          -3.790         0              0              0              38
   6  KeyChain        -1.270         0.800          -3.920         0              0              0              37
   7  Laptop          -3.402         0.618          -1.506         0              0              0              22
   8  AlarmClock      -0.685         0.542          -3.713         0              0              0              37
   9  Book            -2.559         0.620          -2.080         0              0              0              22
  10  CellPhone       -1.066         0.803          -3.703         0              0              0              37
  11  Laptop          -3.687         0.979          -3.070         0              0              0              40
  12  CreditCard      -0.655         0.349          -3.747         0              0              0              31
  13  AlarmClock      -0.657         0.800          -3.920         0              0              0              37
  14  KeyChain        -0.453         0.800          -3.703         0              0              0              37
  15  TeddyBear       -2.567         0.575          -0.386         357.948        14.682         7.781          22
  16  BaseballBat     -1.155         0.033          -3.997         90             59.999         0              Floor|-01.88|
  17  Pencil          -1.886         0.066          -3.968         0              9.990          0              26
  18  Pillow          -3.335         0.681          -0.415         0              0              0              22
  19  CD              -3.638         0.614          -3.369         0              0              0              41
  20  Pen             -3.694         0.424          -3.092         0              0              0              48
  21  Mug             -3.466         0.977          -3.472         0              0              0              40
  22  Bed             -2.980         0.009          -1.177         0              0              0
  23  LightSwitch     -1.620         1.351          0.0            0              180            0
  24  DeskLamp        -1.529         0.790          -4.298         0              0              0
  25  Mirror          -0.002         1.251          -2.592         0              90             0
  26  GarbageCan      -1.843         -0.017         -3.897         0              279.992        0
  27  Window          0.209          1.180          -1.504         90             270            0
  28  Drawer          -0.503         0.067          -4.188         0              180            0
  29  Drawer          -0.502         0.226          -3.799         0              0              0
  30  Drawer          -0.502         0.385          -3.799         0              0              0
  31  CoffeeTable     -0.503         0.009          -3.990         0              0              0
  32  Drawer          -0.502         0.067          -3.799         0              0              0
  33  Blinds          0.163          2.196          -1.495         0              270            0
  34  TableTopDecor   -3.586         0.996          -3.055         0              180            0
  35  Drawer          -0.503         0.385          -4.188         0              180            0
  36  Drawer          -0.503         0.226          -4.188         0              180            0
  37  Desk            -0.862         0.006          -4.028         0              0              0
  38  Drawer          -3.609         0.876          -4.055         0              90             0
  39  Drawer          -3.608         0.112          -3.261         0              90             0
  40  Dresser         -3.653         0.008          -3.658         0              90             0
  41  Drawer          -3.609         0.688          -3.261         0              90             0
  42  Drawer          -3.609         0.300          -3.261         0              90             0
  43  Drawer          -3.609         0.494          -4.055         0              90             0
  44  Drawer          -3.609         0.300          -4.055         0              90             0
  45  Drawer          -3.608         0.112          -4.055         0              90             0
  46  Drawer          -3.609         0.688          -4.055         0              90             0
  47  Drawer          -3.609         0.876          -3.261         0              90             0
  48  Drawer          -3.609         0.494          -3.261         0              90             0
  49  NorthWall
  50  EastWall
  51  SouthWall
  52  WestWall

Plan:
STEP 1: Move to the rectangular white table in the corner of the room | STEP 2: Pick up the pencil on the table top | STEP 3: Carry the pencil over to the wood drawers under the white table on the left side | STEP 4: Place the pencil on top of the wood drawer unit | END