Task: Put away the pencil in the box and on the dining table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.25          0.902          4.25           0              270            0
   1  Plate           -2.241         0.348          5.042          0              0              0              46
   2  TissueBox       -2.114         0.749          -0.028         0              0              0              52
   3  TissueBox       -2.003         0.725          6.134          0              0              0              49
   4  Newspaper       -2.933         0.481          3.346          0              0              0              50
   5  Watch           -0.252         0.704          3.200          0              0              0              40
   6  Statue          -2.393         0.753          -0.159         0              0              0              52
   7  KeyChain        -2.396         0.349          4.887          0              0              0              46
   8  KeyChain        -2.933         0.480          3.705          0              0              0              50
   9  Book            -2.396         0.100          4.887          0              0              0              48
  10  CreditCard      -2.368         0.648          -0.077         0              0              0              53
  11  RemoteControl   -2.318         0.606          4.731          0              0              0              45
  12  RemoteControl   -1.859         0.651          -0.077         0              0              0              53
  13  Box             -2.404         0.678          3.525          0              90             0              50
  14  Book            -1.872         0.680          1.167          0              0              0              54
  15  Box             -1.609         0.678          3.525          0              90             0              50
  16  Statue          -2.259         0.243          6.119          0              0              0              47
  17  Laptop          -1.698         0.680          1.659          0              329.236        0              56
  18  TissueBox       -1.834         0.749          -0.159         0              0              0              52
  19  CreditCard      -4.291         0.444          5.801          0              59.999         0              42
  20  Plate           -2.767         0.723          6.134          0              0              0              49
  21  KeyChain        -2.473         0.604          4.887          0              0              0              45
  22  Vase            -0.265         0.698          3.414          0              0              0              40
  23  Pencil          -0.294         0.618          3.139          0              0              0              41
  24  Pillow          -3.271         0.661          3.44           0              0              331.220        50
  25  Bowl            -2.180         0.596          4.894          0              0              0              45
  26  RemoteControl   -1.139         0.435          5.978          0              135            0              43
  27  Watch           -2.257         0.724          6.053          0              180            0              49
  28  Pen             -2.510         0.243          6.156          0              0              0              47
  29  Newspaper       -2.008         0.239          6.083          0              0              0              47
  30  Painting        -2.048         1.615          -0.303         0              0              0
  31  Curtains        -0.083         2.420          0.969          0              0              0
  32  Television      -2.357         1.205          6.245          0              180            0
  33  HousePlant      -2.933         0.595          -0.093         0              0              0
  34  GarbageCan      -4.864         -0.001         0.267          0              90             0
  35  FloorLamp       -0.566         0.002          0.024          0              316.932        0
  36  DeskLamp        -0.273         0.700          3.612          0              0              0
  37  Window          -0.057         0.925          1.764          90             270            0
  38  Window          -0.057         1.130          4.886          90             270            0
  39  LightSwitch     -3.305         1.340          -0.314         0              0              0
  40  SideTable       -0.255         0.001          3.369          0              270            0
  41  Drawer          -0.306         0.626          3.369          0              270            0
  42  ArmChair        -4.376         -8.374         6.016          0              152.639        0
  43  ArmChair        -0.847         -8.106         5.983          0              231.318        0
  44  DiningTable     -2.268         -0.016         1.422          0              0              0
  45  CoffeeTable     -2.326         0.002          4.922          0              0              0
  46  Shelf           -2.326         0.338          4.922          0              0              0
  47  Shelf           -2.385         0.238          6.296          0              0              0
  48  Shelf           -2.326         0.089          4.922          0              0              0
  49  TVStand         -2.385         0.006          6.296          0              0              0
  50  Sofa            -2.404         -0.003         3.417          0              0              0
  51  SideTable       -2.935         0.004          -0.103         0              0              0
  52  SideTable       -2.113         0.002          -0.139         0              0              0
  53  Drawer          -2.113         0.654          -0.069         0              0              0
  54  Chair           -1.862         0.020          1.035          0              0              0
  55  Chair           -3.122         0.020          1.410          0              104.999        0
  56  Chair           -1.864         0.020          1.838          0              185.032        0
  57  Chair           -2.507         0.020          0.991          0              6.189          0
  58  Chair           -2.519         0.020          1.882          0              164.977        0
  59  Chair           -1.335         0.020          1.430          0              270            0
  60  NorthWall
  61  EastWall
  62  SouthWall
  63  WestWall

Plan:
STEP 1: Turn around and walk to the end table with the lamp on it. | STEP 2: Open the drawer and grab the pencil from inside. | STEP 3: Turn around and go to the second box on the couch. | STEP 4: Put the pencil in the box. | STEP 5: Pick up the box with the pencil in it. | STEP 6: Go around the couch to the dining table.  | STEP 7: Set the box with the pencil in it on the dining table. | END