Task: put two pencils in the top left drawer of 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           -0.5           0.949          2.5            0              270            0
   1  CD              -0.990         0.091          -1.147         0              0              0              22
   2  Pencil          0.024          0.788          3.088          0              180            0              43
   3  Pencil          -0.970         0.788          0.081          0              0              0              57
   4  KeyChain        -0.068         0.785          3.198          0              270            0              43
   5  Book            -0.838         0.784          -0.338         0              0              0              57
   6  Laptop          2.234          0.986          -1.862         0              270            0              36
   7  Laptop          2.545          0.607          -0.172         0              0              0              21
   8  Book            1.950          0.988          -2.037         0              270            0              36
   9  KeyChain        3.455          0.725          1.488          0              180            0              61
  10  CreditCard      3.300          0.723          1.352          0              180            0              61
  11  Pen             2.519          0.993          -2.037         0              270            0              36
  12  Pencil          -0.350         1.112          3.088          0              180            0              44
  13  Laptop          2.217          0.607          0.308          0              0              0              21
  14  Vase            3.012          0.189          -1.721         0              270            0              35
  15  AlarmClock      1.382          0.989          -1.774         0              270            0              36
  16  Pillow          2.381          0.674          0.790          0              0              0              21
  17  Pillow          1.966          0.631          1.226          0              0              0              21
  18  CellPhone       1.382          0.988          -2.212         0              270            0              36
  19  CD              -0.776         0.379          0.166          0              0              0              54
  20  Vase            -0.904         0.789          0.501          0              0              0              57
  21  Bed             2.217          0.050          0.585          0              0              0
  22  GarbageCan      -0.978         0.048          -1.172         0              0              0
  23  Painting        2.990          1.592          1.567          90             0              0
  24  Painting        1.524          1.592          1.567          90             0              0
  25  Mirror          -1.190         1.417          -0.223         0              270            0
  26  LightSwitch     0.709          1.332          1.636          0              180            0
  27  Window          -2.629         1.460          2.891          90             270            0
  28  Window          -2.629         1.460          4.084          90             270            0
  29  DeskLamp        3.589          0.717          1.408          0              0              0
  30  Drawer          2.490          0.949          -1.703         0              0              0
  31  Cabinet         2.226          0.547          -1.615         0              0              0
  32  Drawer          1.975          0.949          -1.703         0              0              0
  33  Cabinet         1.207          0.547          -1.615         0              0              0
  34  Drawer          1.457          0.949          -1.703         0              0              0
  35  Cabinet         3.260          0.547          -1.615         0              0              0
  36  Dresser         2.234          0.048          -1.950         0              0              0
  37  Drawer          3.011          0.949          -1.703         0              0              0
  38  Cabinet         2.241          0.547          -1.615         0              0              0
  39  Shelf           -0.163         1.461          3.219          0              180            0
  40  Drawer          -0.161         0.242          3.166          0              180            0
  41  ShelvingUnit    -0.161         0.050          3.212          0              180            0
  42  Drawer          -0.161         0.562          3.168          0              180            0
  43  Shelf           -0.162         0.922          3.164          0              180            0
  44  Shelf           -0.162         1.241          3.163          0              180            0
  45  Blinds          -2.550         2.486          2.911          0              90             0
  46  Blinds          -2.550         2.486          4.107          0              90             0
  47  Drawer          -0.833         0.217          -0.336         0              90             0
  48  Drawer          -0.833         0.217          0.486          0              90             0
  49  Drawer          -0.833         0.628          -0.747         0              90             0
  50  Drawer          -0.833         0.217          0.075          0              90             0
  51  Drawer          -0.833         0.628          0.486          0              90             0
  52  Drawer          -0.833         0.217          -0.747         0              90             0
  53  Drawer          -0.833         0.423          -0.336         0              90             0
  54  Drawer          -0.833         0.423          0.075          0              90             0
  55  Drawer          -0.833         0.423          0.486          0              90             0
  56  Drawer          -0.833         0.423          -0.747         0              90             0
  57  Dresser         -0.934         0.050          -0.129         0              90             0
  58  Drawer          -0.833         0.628          0.075          0              90             0
  59  Drawer          -0.833         0.628          -0.336         0              90             0
  60  Drawer          3.454          0.212          1.262          0              180            0
  61  SideTable       3.455          0.046          1.328          0              180            0
  62  Drawer          3.454          0.504          1.262          0              180            0
  63  NorthWall
  64  EastWall
  65  SouthWall
  66  WestWall

Plan:
STEP 1: walk over to the bookshelf | STEP 2: take the pencil from the shelf | STEP 3: take the pencil to the dresser | STEP 4: put the pencil in the top drawer on the left | STEP 5: approach the top of the dresser | STEP 6: pick up the pencil from the top of the dresser | STEP 7: approach the left side of dresser again | STEP 8: put the pencil in the top drawer on the left next to the first pencil | END