Task: place a pencil on top of some keys on the dresser

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           0.909          -2.5           0              270            0
   1  Mug             -0.774         0.541          -3.694         0              0              0              34
   2  CD              -1.474         0.799          -3.920         0              0              0              40
   3  CellPhone       -0.578         0.188          -3.844         0              0              0              32
   4  Pencil          -1.869         0.065          -3.873         0              9.990          0              29
   5  KeyChain        -3.687         0.980          -3.472         0              0              0              43
   6  KeyChain        -1.474         0.800          -3.811         0              0              0              40
   7  Book            -2.981         0.620          -1.793         0              0              0              25
   8  Pillow          -2.981         0.722          -1.218         0              0              0              25
   9  Laptop          -0.453         0.798          -3.811         0              0              0              40
  10  AlarmClock      -0.862         0.803          -4.246         0              0              0              40
  11  AlarmClock      -0.329         0.542          -3.713         0              0              0              40
  12  Book            -3.613         0.980          -3.673         0              0              0              43
  13  CellPhone       -3.191         0.620          -2.080         0              0              0              25
  14  Laptop          -1.169         0.796          -4.096         0              27.912         0              40
  15  CreditCard      -3.613         0.981          -4.276         0              0              0              43
  16  AlarmClock      -3.7           0.973          -3.093         0              56.085         0              43
  17  KeyChain        -3.466         0.982          -3.874         0              0              0              43
  18  TeddyBear       -2.567         0.575          -0.386         357.948        14.682         7.781          25
  19  BaseballBat     -1.155         0.033          -3.997         90             59.999         0              Floor|-01.88|
  20  Pencil          -3.638         0.617          -4.348         0              0              0              49
  21  Pillow          -2.559         0.722          -1.793         0              0              0              25
  22  CD              -0.507         0.542          -3.713         0              0              0              34
  23  Pen             -0.657         0.809          -4.137         0              0              0              40
  24  Mug             -3.687         0.979          -3.874         0              0              0              43
  25  Bed             -2.980         0.009          -1.177         0              0              0
  26  LightSwitch     -1.620         1.351          0.0            0              180            0
  27  DeskLamp        -1.529         0.790          -4.298         0              0              0
  28  Mirror          -0.002         1.251          -2.592         0              90             0
  29  GarbageCan      -1.843         -0.017         -3.897         0              279.992        0
  30  Window          0.209          1.180          -1.504         90             270            0
  31  Drawer          -0.503         0.067          -4.188         0              180            0
  32  Drawer          -0.502         0.226          -3.799         0              0              0
  33  Drawer          -0.502         0.385          -3.799         0              0              0
  34  CoffeeTable     -0.503         0.009          -3.990         0              0              0
  35  Drawer          -0.502         0.067          -3.799         0              0              0
  36  Blinds          0.163          2.196          -1.495         0              270            0
  37  TableTopDecor   -3.586         0.996          -3.055         0              180            0
  38  Drawer          -0.503         0.385          -4.188         0              180            0
  39  Drawer          -0.503         0.226          -4.188         0              180            0
  40  Desk            -0.862         0.006          -4.028         0              0              0
  41  Drawer          -3.609         0.876          -4.055         0              90             0
  42  Drawer          -3.608         0.112          -3.261         0              90             0
  43  Dresser         -3.653         0.008          -3.658         0              90             0
  44  Drawer          -3.609         0.688          -3.261         0              90             0
  45  Drawer          -3.609         0.300          -3.261         0              90             0
  46  Drawer          -3.609         0.494          -4.055         0              90             0
  47  Drawer          -3.609         0.300          -4.055         0              90             0
  48  Drawer          -3.608         0.112          -4.055         0              90             0
  49  Drawer          -3.609         0.688          -4.055         0              90             0
  50  Drawer          -3.609         0.876          -3.261         0              90             0
  51  Drawer          -3.609         0.494          -3.261         0              90             0
  52  NorthWall
  53  EastWall
  54  SouthWall
  55  WestWall

Plan:
STEP 1: turn around and walk over to the desk on the right side of the room | STEP 2: grab a pencil off of the desk there | STEP 3:  turn right and walk over to the dresser at the far end of the room | STEP 4: place the pencil on top of the keys on top of the dresser | END