Task: Put two pencils in a drawer.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.949          0.5            0              0              0
   1  CD              1.393          0.179          -1.841         0              270            0              35
   2  Pencil          -1.037         0.788          -0.548         0              0              0              59
   3  Pencil          3.455          0.727          1.443          0              180            0              63
   4  KeyChain        0.006          0.157          3.222          0              0              0              44
   5  Book            2.052          0.610          0.790          0              0              0              23
   6  Book            2.035          0.184          -1.892         0              270            0              33
   7  Laptop          2.052          0.607          0.308          0              0              0              23
   8  AlarmClock      -0.350         1.109          3.171          0              180            0              46
   9  AlarmClock      -0.838         0.785          0.081          0              0              0              59
  10  Book            2.952          0.184          -1.892         0              270            0              37
  11  KeyChain        3.455          0.725          1.262          0              180            0              63
  12  CreditCard      0.116          0.784          3.198          0              180            0              45
  13  Pen             -0.069         1.113          3.088          0              180            0              46
  14  Pencil          -0.068         0.788          3.115          0              180            0              45
  15  Laptop          1.950          0.983          -1.950         0              270            0              38
  16  Vase            -1.037         0.789          0.501          0              0              0              59
  17  AlarmClock      -0.970         0.786          -0.128         0              0              0              59
  18  Pillow          2.545          0.674          0.308          0              0              0              23
  19  Pillow          1.966          0.631          1.226          0              0              0              23
  20  CellPhone       3.569          0.125          1.318          0              0              0              62
  21  CD              -1.043         0.091          -1.147         0              0              0              24
  22  Vase            -0.384         0.772          3.172          0              0              0              45
  23  Bed             2.217          0.050          0.585          0              0              0
  24  GarbageCan      -0.978         0.048          -1.172         0              0              0
  25  Painting        2.990          1.592          1.567          90             0              0
  26  Painting        1.524          1.592          1.567          90             0              0
  27  Mirror          -1.190         1.417          -0.223         0              270            0
  28  LightSwitch     0.709          1.332          1.636          0              180            0
  29  Window          -2.629         1.460          2.891          90             270            0
  30  Window          -2.629         1.460          4.084          90             270            0
  31  DeskLamp        3.589          0.717          1.408          0              0              0
  32  Drawer          2.490          0.949          -1.703         0              0              0
  33  Cabinet         2.226          0.547          -1.615         0              0              0
  34  Drawer          1.975          0.949          -1.703         0              0              0
  35  Cabinet         1.207          0.547          -1.615         0              0              0
  36  Drawer          1.457          0.949          -1.703         0              0              0
  37  Cabinet         3.260          0.547          -1.615         0              0              0
  38  Dresser         2.234          0.048          -1.950         0              0              0
  39  Drawer          3.011          0.949          -1.703         0              0              0
  40  Cabinet         2.241          0.547          -1.615         0              0              0
  41  Shelf           -0.163         1.461          3.219          0              180            0
  42  Drawer          -0.161         0.242          3.166          0              180            0
  43  ShelvingUnit    -0.161         0.050          3.212          0              180            0
  44  Drawer          -0.161         0.562          3.168          0              180            0
  45  Shelf           -0.162         0.922          3.164          0              180            0
  46  Shelf           -0.162         1.241          3.163          0              180            0
  47  Blinds          -2.550         2.486          2.911          0              90             0
  48  Blinds          -2.550         2.486          4.107          0              90             0
  49  Drawer          -0.833         0.217          -0.336         0              90             0
  50  Drawer          -0.833         0.217          0.486          0              90             0
  51  Drawer          -0.833         0.628          -0.747         0              90             0
  52  Drawer          -0.833         0.217          0.075          0              90             0
  53  Drawer          -0.833         0.628          0.486          0              90             0
  54  Drawer          -0.833         0.217          -0.747         0              90             0
  55  Drawer          -0.833         0.423          -0.336         0              90             0
  56  Drawer          -0.833         0.423          0.075          0              90             0
  57  Drawer          -0.833         0.423          0.486          0              90             0
  58  Drawer          -0.833         0.423          -0.747         0              90             0
  59  Dresser         -0.934         0.050          -0.129         0              90             0
  60  Drawer          -0.833         0.628          0.075          0              90             0
  61  Drawer          -0.833         0.628          -0.336         0              90             0
  62  Drawer          3.454          0.212          1.262          0              180            0
  63  SideTable       3.455          0.046          1.328          0              180            0
  64  Drawer          3.454          0.504          1.262          0              180            0
  65  NorthWall
  66  EastWall
  67  SouthWall
  68  WestWall

Plan:
STEP 1: Turn around, go past the dresser and hang a left, go past the bed and hang a left, go to the bedside table. | STEP 2: Pick up the pencil that is on the bedside table.  | STEP 3: Turn around, go to the end of the bed and hang a right, go across the room to the black dresser.  | STEP 4: Put the pencil in the middle drawer, third from the left.  | STEP 5: Move forward toward to the dresser.  | STEP 6: Pick up the pencil that is on top of the dresser.  | STEP 7: Turn around, go forward, turn around to face the dresser. | STEP 8: Put the pencil in the middle drawer, third from the left.  | END