Task: Move two pencils from the top of the dresser to the drawer.

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          -0.75          0              90             0
   1  Mug             -0.507         0.541          -3.713         0              0              0              35
   2  Mug             -1.270         0.798          -3.920         0              0              0              41
   3  CellPhone       -1.270         0.800          -4.246         0              0              0              41
   4  Pen             -3.638         0.620          -4.070         0              0              0              50
   5  Pen             -0.249         0.805          -3.703         0              0              0              41
   6  Pencil          -3.760         0.984          -3.673         0              0              0              44
   7  CreditCard      -0.453         0.800          -3.920         0              0              0              41
   8  KeyChain        -1.066         0.804          -4.137         0              0              0              41
   9  KeyChain        -3.466         0.982          -3.874         0              0              0              44
  10  Laptop          -2.559         0.618          -0.931         0              0              0              26
  11  AlarmClock      -3.834         0.981          -4.276         0              0              0              44
  12  AlarmClock      -0.453         0.803          -4.029         0              0              0              41
  13  Book            -3.760         0.981          -3.472         0              0              0              44
  14  CellPhone       -0.426         0.030          -3.844         0              0              0              33
  15  Laptop          -2.770         0.618          -1.793         0              0              0              26
  16  CreditCard      -0.862         0.803          -3.703         0              0              0              41
  17  AlarmClock      -0.862         0.803          -4.246         0              0              0              41
  18  KeyChain        -3.539         0.980          -3.271         0              90             0              44
  19  TeddyBear       -2.567         0.575          -0.386         357.948        14.682         7.781          26
  20  BaseballBat     -1.155         0.033          -3.997         90             59.999         0              Floor|-01.88|
  21  Pencil          -3.613         0.984          -3.874         0              0              0              44
  22  Pillow          -3.335         0.681          -0.415         0              0              0              26
  23  CD              -1.854         0.063          -3.925         0              279.990        0              30
  24  Pen             -1.474         0.805          -3.920         0              0              0              41
  25  Mug             -0.240         0.541          -3.731         0              0              0              35
  26  Bed             -2.980         0.009          -1.177         0              0              0
  27  LightSwitch     -1.620         1.351          0.0            0              180            0
  28  DeskLamp        -1.529         0.790          -4.298         0              0              0
  29  Mirror          -0.002         1.251          -2.592         0              90             0
  30  GarbageCan      -1.843         -0.017         -3.897         0              279.992        0
  31  Window          0.209          1.180          -1.504         90             270            0
  32  Drawer          -0.503         0.067          -4.188         0              180            0
  33  Drawer          -0.502         0.226          -3.799         0              0              0
  34  Drawer          -0.502         0.385          -3.799         0              0              0
  35  CoffeeTable     -0.503         0.009          -3.990         0              0              0
  36  Drawer          -0.502         0.067          -3.799         0              0              0
  37  Blinds          0.163          2.196          -1.495         0              270            0
  38  TableTopDecor   -3.586         0.996          -3.055         0              180            0
  39  Drawer          -0.503         0.385          -4.188         0              180            0
  40  Drawer          -0.503         0.226          -4.188         0              180            0
  41  Desk            -0.862         0.006          -4.028         0              0              0
  42  Drawer          -3.609         0.876          -4.055         0              90             0
  43  Drawer          -3.608         0.112          -3.261         0              90             0
  44  Dresser         -3.653         0.008          -3.658         0              90             0
  45  Drawer          -3.609         0.688          -3.261         0              90             0
  46  Drawer          -3.609         0.300          -3.261         0              90             0
  47  Drawer          -3.609         0.494          -4.055         0              90             0
  48  Drawer          -3.609         0.300          -4.055         0              90             0
  49  Drawer          -3.608         0.112          -4.055         0              90             0
  50  Drawer          -3.609         0.688          -4.055         0              90             0
  51  Drawer          -3.609         0.876          -3.261         0              90             0
  52  Drawer          -3.609         0.494          -3.261         0              90             0
  53  NorthWall
  54  EastWall
  55  SouthWall
  56  WestWall

Plan:
STEP 1: Turn right and go to the wooden dresser in the corner across the room.  | STEP 2: Pick up the yellow pencil directly behind the keys on the top. | STEP 3: Move back from the wooden dresser. | STEP 4: Place the pencil in the second drawer on the bottom left.  | STEP 5: Move forward slightly towards the dresser. | STEP 6: Pick up the yellow pencil on the top of the dresser on the left of the white note book.  | STEP 7: Move back from the wooden dresser. | STEP 8: Place the pencil in the second drawer on the bottom left on top of the first pencil.  | END