Task: move pencil from trash can to 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           0.909          -2.25          0              90             0
   1  CD              -1.270         0.799          -3.811         0              0              0              37
   2  CD              -0.453         0.799          -4.354         0              0              0              37
   3  CellPhone       -1.270         0.803          -3.811         0              0              0              37
   4  Pen             -0.507         0.548          -3.768         0              0              0              31
   5  KeyChain        -0.453         0.800          -3.703         0              0              0              37
   6  KeyChain        -0.274         0.030          -3.779         0              0              0              32
   7  Book            -3.580         0.810          -3.091         0              0              0              47
   8  Book            -3.637         0.045          -3.091         0              0              0              39
   9  Book            -3.834         0.981          -3.472         0              0              0              40
  10  CellPhone       -0.657         0.803          -4.354         0              0              0              37
  11  Laptop          -3.402         0.618          -1.506         0              0              0              22
  12  CreditCard      -3.466         0.981          -4.276         0              0              0              40
  13  AlarmClock      -3.613         0.979          -4.276         0              0              0              40
  14  KeyChain        -3.469         0.227          -3.557         0              0              0              42
  15  TeddyBear       -2.567         0.575          -0.386         357.948        14.682         7.781          22
  16  BaseballBat     -1.155         0.033          -3.997         90             59.999         0              Floor|-01.88|
  17  Pencil          -1.882         0.066          -3.944         0              9.990          0              26
  18  Pillow          -2.559         0.722          -0.931         0              0              0              22
  19  CD              -3.539         0.979          -3.070         0              0              0              40
  20  Pen             -0.453         0.805          -3.920         0              0              0              37
  21  Mug             -0.685         0.541          -3.694         0              0              0              31
  22  Bed             -2.980         0.009          -1.177         0              0              0
  23  LightSwitch     -1.620         1.351          0.0            0              180            0
  24  DeskLamp        -1.529         0.790          -4.298         0              0              0
  25  Mirror          -0.002         1.251          -2.592         0              90             0
  26  GarbageCan      -1.843         -0.017         -3.897         0              279.992        0
  27  Window          0.209          1.180          -1.504         90             270            0
  28  Drawer          -0.503         0.067          -4.188         0              180            0
  29  Drawer          -0.502         0.226          -3.799         0              0              0
  30  Drawer          -0.502         0.385          -3.799         0              0              0
  31  CoffeeTable     -0.503         0.009          -3.990         0              0              0
  32  Drawer          -0.502         0.067          -3.799         0              0              0
  33  Blinds          0.163          2.196          -1.495         0              270            0
  34  TableTopDecor   -3.586         0.996          -3.055         0              180            0
  35  Drawer          -0.503         0.385          -4.188         0              180            0
  36  Drawer          -0.503         0.226          -4.188         0              180            0
  37  Desk            -0.862         0.006          -4.028         0              0              0
  38  Drawer          -3.609         0.876          -4.055         0              90             0
  39  Drawer          -3.608         0.112          -3.261         0              90             0
  40  Dresser         -3.653         0.008          -3.658         0              90             0
  41  Drawer          -3.609         0.688          -3.261         0              90             0
  42  Drawer          -3.609         0.300          -3.261         0              90             0
  43  Drawer          -3.609         0.494          -4.055         0              90             0
  44  Drawer          -3.609         0.300          -4.055         0              90             0
  45  Drawer          -3.608         0.112          -4.055         0              90             0
  46  Drawer          -3.609         0.688          -4.055         0              90             0
  47  Drawer          -3.609         0.876          -3.261         0              90             0
  48  Drawer          -3.609         0.494          -3.261         0              90             0
  49  NorthWall
  50  EastWall
  51  SouthWall
  52  WestWall

Plan:
STEP 1: turn around, walk forward, turn left, take a step, turn left to face lamp on the table | STEP 2: pick up the pencil that is in the trash can | STEP 3: turn around, walk forward to the dresser | STEP 4: put the pencil on the dresser | END