Task: put pencil on top of bureau

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           0.900          -0.5           0              0              0
   1  Vase            -1.699         1.638          -2.073         0              90             0              37
   2  CD              2.437          0.373          -1.592         0              180            0              58
   3  Pen             1.731          0.686          2.308          0              0              0              53
   4  Pen             -1.720         0.806          0.069          0              0              0              48
   5  Book            1.261          0.774          0.188          0              0              0              25
   6  Book            2.410          0.451          1.841          0              90             0              59
   7  AlarmClock      2.437          0.680          -1.762         0              0              0              56
   8  AlarmClock      1.576          0.680          2.262          0              0              0              53
   9  Book            0.537          0.774          0.188          0              0              0              25
  10  KeyChain        -1.730         0.973          0.464          0              270            0              43
  11  AlarmClock      -1.699         1.146          -1.959         0              90             0              38
  12  Pillow          0.778          0.836          -0.990         0              0              0              25
  13  Pillow          1.743          0.836          -0.990         0              0              0              25
  14  Vase            1.576          0.681          2.127          0              0              0              53
  15  Laptop          -1.628         0.965          0.084          0              104.999        0              43
  16  Vase            -1.650         1.626          -2.316         0              0              0              37
  17  Pencil          1.653          0.686          2.172          0              0              0              53
  18  CreditCard      2.205          0.680          -1.717         0              0              0              56
  19  Boots           -1.842         0.000          -1.077         0              135            0
  20  Pen             -1.509         0.976          -0.339         0              0              0              43
  21  CellPhone       2.437          0.082          -1.615         0              180            0              57
  22  CD              2.670          0.680          -1.581         0              0              0              56
  23  Bowl            -1.684         1.135          -2.300         0              346.900        0              38
  24  Statue          -1.764         0.965          -0.758         0              59.718         0              43
  25  Bed             1.017          0.003          -0.686         0              180            0
  26  HousePlant      -1.749         0.971          0.463          0              0              0
  27  GarbageCan      -1.665         -0.000         0.953          0              45             0
  28  Painting        0.381          1.976          -1.895         90             0              0
  29  Painting        0.879          1.976          -1.895         90             0              0
  30  Painting        1.373          1.976          -1.895         90             0              0
  31  LightSwitch     -0.164         1.085          2.450          0              180            0
  32  Mirror          -1.950         1.735          -0.206         0              270            0
  33  Window          -1.098         1.570          -3.230         90             0              0
  34  DeskLamp        1.404          0.668          2.209          0              0              0
  35  DeskLamp        2.596          0.668          -1.710         0              0              0
  36  Blinds          -1.062         2.361          -3.173         0              0              0
  37  Shelf           -1.675         1.871          -2.053         0              90             0
  38  Shelf           -1.675         1.383          -2.053         0              90             0
  39  Drawer          -1.715         0.832          -2.053         0              90             0
  40  ShelvingUnit    -1.723         0.007          -2.053         0              90             0
  41  Drawer          -1.713         0.339          -2.053         0              90             0
  42  Drawer          -1.629         0.104          0.243          0              90             0
  43  Dresser         -1.674         0.000          -0.153         0              90             0
  44  Drawer          -1.630         0.868          -0.550         0              90             0
  45  Drawer          -1.630         0.680          0.243          0              90             0
  46  Drawer          -1.629         0.104          -0.550         0              90             0
  47  Drawer          -1.630         0.680          -0.550         0              90             0
  48  Drawer          -1.630         0.868          0.243          0              90             0
  49  Drawer          -1.629         0.486          -0.550         0              90             0
  50  Drawer          -1.629         0.291          0.243          0              90             0
  51  Drawer          -1.629         0.291          -0.550         0              90             0
  52  Drawer          -1.630         0.486          0.243          0              90             0
  53  SideTable       1.576          -0.001         2.137          0              180            0
  54  Drawer          1.576          0.163          2.070          0              180            0
  55  Drawer          1.576          0.455          2.070          0              180            0
  56  SideTable       2.437          -0.001         -1.603         0              0              0
  57  Drawer          2.438          0.163          -1.536         0              0              0
  58  Drawer          2.438          0.455          -1.536         0              0              0
  59  ArmChair        2.393          -0.001         1.943          0              180            0
  60  NorthWall
  61  EastWall
  62  SouthWall
  63  WestWall

Plan:
STEP 1: walk to face small table left of plush chair | STEP 2: pick up pencil from table | STEP 3: walk to left side of bureau | STEP 4: put pencil on top of bureau | END