Task: Place a box with a pencil in it on a table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -4.75          0.902          3.75           0              180            0
   1  TissueBox       -2.396         0.350          5.042          0              0              0              49
   2  TissueBox       -2.114         0.749          -0.159         0              0              0              55
   3  Newspaper       -2.008         0.239          6.046          0              0              0              50
   4  Newspaper       -2.253         0.749          -0.159         0              90             0              55
   5  Watch           -2.164         0.600          5.042          0              0              0              48
   6  Vase            -2.396         0.349          4.809          0              0              0              49
   7  Pen             -2.934         0.694          1.052          0              0              0              47
   8  Pen             -2.003         0.729          6.296          0              0              0              52
   9  Pencil          -2.253         0.751          0.014          0              0              0              55
  10  Pencil          -2.368         0.651          -0.077         0              0              0              56
  11  KeyChain        -0.816         0.433          5.776          0              225            0              46
  12  CreditCard      -2.551         0.345          4.809          0              0              0              49
  13  RemoteControl   -1.874         0.482          3.346          0              0              0              53
  14  RemoteControl   -2.269         0.691          1.423          0              0              0              47
  15  Box             -1.874         0.678          3.436          0              180            0              53
  16  Pillow          -2.404         0.557          3.615          0              0              0              53
  17  Book            -1.872         0.680          1.167          0              0              0              57
  18  Box             -3.362         0.219          6.426          0              0              0              50
  19  Statue          -2.269         0.695          1.793          0              0              0              61
  20  Laptop          -2.712         0.687          1.299          0              0              0              60
  21  TissueBox       -2.396         0.602          4.809          0              0              0              48
  22  CreditCard      -2.257         0.724          6.296          0              0              0              52
  23  Plate           -2.761         0.237          6.119          0              0              0              50
  24  KeyChain        -0.333         0.616          3.216          0              90             0              44
  25  Vase            -2.241         0.101          4.809          0              0              0              51
  26  Pencil          -2.393         0.751          -0.072         0              0              0              55
  27  Pillow          -3.271         0.661          3.44           0              0              331.220        53
  28  Bowl            -2.473         0.097          5.042          0              0              0              51
  29  RemoteControl   -2.086         0.351          4.887          0              0              0              49
  30  Watch           -2.490         0.689          1.423          0              0              0              47
  31  Pen             -0.252         0.711          3.200          0              0              0              43
  32  Newspaper       -2.047         0.690          1.546          0              0              0              47
  33  Painting        -2.048         1.615          -0.303         0              0              0
  34  Curtains        -0.083         2.420          0.969          0              0              0
  35  Television      -2.357         1.205          6.245          0              180            0
  36  HousePlant      -2.933         0.595          -0.093         0              0              0
  37  GarbageCan      -4.864         -0.001         0.267          0              90             0
  38  FloorLamp       -0.566         0.002          0.024          0              316.932        0
  39  DeskLamp        -0.273         0.700          3.612          0              0              0
  40  Window          -0.057         0.925          1.764          90             270            0
  41  Window          -0.057         1.130          4.886          90             270            0
  42  LightSwitch     -3.305         1.340          -0.314         0              0              0
  43  SideTable       -0.255         0.001          3.369          0              270            0
  44  Drawer          -0.306         0.626          3.369          0              270            0
  45  ArmChair        -4.376         -8.374         6.016          0              152.639        0
  46  ArmChair        -0.847         -8.106         5.983          0              231.318        0
  47  DiningTable     -2.268         -0.016         1.422          0              0              0
  48  CoffeeTable     -2.326         0.002          4.922          0              0              0
  49  Shelf           -2.326         0.338          4.922          0              0              0
  50  Shelf           -2.385         0.238          6.296          0              0              0
  51  Shelf           -2.326         0.089          4.922          0              0              0
  52  TVStand         -2.385         0.006          6.296          0              0              0
  53  Sofa            -2.404         -0.003         3.417          0              0              0
  54  SideTable       -2.935         0.004          -0.103         0              0              0
  55  SideTable       -2.113         0.002          -0.139         0              0              0
  56  Drawer          -2.113         0.654          -0.069         0              0              0
  57  Chair           -1.862         0.020          1.035          0              0              0
  58  Chair           -3.122         0.020          1.410          0              104.999        0
  59  Chair           -1.864         0.020          1.838          0              185.032        0
  60  Chair           -2.507         0.020          0.991          0              6.189          0
  61  Chair           -2.519         0.020          1.882          0              164.977        0
  62  Chair           -1.335         0.020          1.430          0              270            0
  63  NorthWall
  64  EastWall
  65  SouthWall
  66  WestWall

Plan:
STEP 1: Walk forward, turn left at the door, and walk until you get to the black table on your right. | STEP 2: Pick up the pencil on the right of the table. | STEP 3: Turn left, walk around the table, and walk around the front of the black couch. | STEP 4: Place the pencil in the box on the left of the couch. | STEP 5: Pick up the box from the couch. | STEP 6: Walk around the couch to face the big wooden table. | STEP 7: Place the box on the front right side of the table. | END