Task: Move two pencils into a drawer.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.25           0.900          -0.75          0              90             0
   1  CD              2.343          0.748          -1.395         0              0              0              35
   2  CellPhone       -0.975         0.508          -0.629         0              0              0              24
   3  CellPhone       1.546          1.139          -1.649         0              0              0              43
   4  Pencil          2.061          0.781          -1.684         0              0              0              39
   5  Pencil          1.850          0.752          -1.357         0              0              0              35
   6  CreditCard      2.256          0.778          -1.754         0              0              0              35
   7  KeyChain        2.508          0.749          -1.357         0              0              0              35
   8  Book            -0.642         0.507          -1.602         0              0              0              24
   9  Book            -0.308         0.507          -1.602         0              0              0              24
  10  AlarmClock      0.152          0.646          -1.784         0              0              0              33
  11  AlarmClock      1.659          0.778          -1.719         0              0              0              38
  12  Book            2.058          0.740          -1.386         0              270            0              35
  13  Pencil          0.221          0.650          -1.625         0              0              0              33
  14  BasketBall      1.144          0.120          -1.656         0              23.931         0              Floor|-00.24|
  15  Laptop          -0.794         0.495          -0.303         0              61.899         0              24
  16  Pen             1.686          0.754          -1.433         0              0              0              35
  17  KeyChain        1.522          0.749          -1.280         0              0              0              35
  18  CreditCard      2.343          0.748          -1.280         0              0              0              35
  19  CellPhone       -1.142         0.508          -0.872         0              0              0              24
  20  CD              1.522          0.748          -1.472         0              0              0              35
  21  AlarmClock      2.158          0.778          -1.649         0              0              0              39
  22  Pillow          -1.154         0.54           -1.607         0              13.257         0              24
  23  Chair           2.161          0.008          -1.129         0              256.825        0
  24  Bed             -0.809         0.010          -0.891         0              180            0
  25  DeskLamp        0.047          0.668          -1.761         0              0              0
  26  GarbageCan      2.657          -0.021         1.275          0              0              0
  27  Mirror          2.821          1.764          -0.068         0              90             0
  28  Window          -1.677         1.402          0.365          90             270            0
  29  LightSwitch     -0.606         1.253          1.435          0              180            0
  30  Shelf           2.025          1.440          -1.730         0              0              0
  31  Drawer          0.187          0.455          -1.577         0              0              0
  32  Drawer          0.187          0.163          -1.577         0              0              0
  33  SideTable       0.186          -0.001         -1.643         0              0              0
  34  Dumbbell        1.576          0.083          -1.563         0              0              0
  35  Desk            2.017          0.000          -1.578         0              0              0
  36  GarbageBag      0.806          0.318          1.143          270            186.178        83.264
  37  Shelf           1.570          0.415          -1.563         0              0              0
  38  Shelf           1.612          0.945          -1.744         0              0              0
  39  Shelf           2.265          0.941          -1.722         0              0              0
  40  Shelf           1.572          0.630          -1.563         0              0              0
  41  Shelf           1.569          0.172          -1.563         0              0              0
  42  Shelf           2.267          1.248          -1.722         0              0              0
  43  Shelf           1.614          1.252          -1.745         0              0              0
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: Turn right and walk up to the wooden desk. | STEP 2: Pick up the yellow pencil to the right of the book on the desk. | STEP 3: Turn around and walk towards the wall, then hang a left and walk towards the bed, turn left to face the nightstand next to the bed. | STEP 4: Open the upper nightstand drawer and put the pencil in it, then close the drawer. | STEP 5: Turn right and walk towards the bed, then turn left and walk up to the nightstand. | STEP 6: Pick up the pencil off of the nightstand. | STEP 7: Turn around and walk towards the door, then turn right and take a step forward, turn right again to face the nightstand. | STEP 8: Open the upper nightstand drawer and put the pencil inside. | END