Task: Place two pencils in 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           -0.5           0.900          1.25           0              270            0
   1  CD              1.293          0.382          -0.242         0              270            0              40
   2  Pen             1.159          0.388          -0.531         0              270            0              40
   3  Pen             1.120          0.243          -1.929         0              0              0              28
   4  CellPhone       1.329          0.371          -1.929         0              0              0              32
   5  CellPhone       -0.842         0.611          -0.784         0              0              0              30
   6  Pencil          -1.332         0.704          -2.191         0              0              0              53
   7  Pencil          0.623          0.582          -2.592         0              0              0              48
   8  KeyChain        -1.582         0.700          -1.610         0              0              0              53
   9  CreditCard      0.309          0.576          -2.482         0              0              0              48
  10  CreditCard      1.381          0.370          -1.605         0              0              0              36
  11  Book            -0.003         0.575          -2.482         0              0              0              48
  12  Laptop          -1.203         0.609          -0.504         0              180            0              30
  13  AlarmClock      1.226          1.410          0.050          0              270            0              41
  14  Book            -0.962         0.610          0.057          0              0              0              30
  15  KeyChain        -1.332         0.700          -1.755         0              180            0              53
  16  BaseballBat     1.436          0.636          1.985          21.882         0              0
  17  BasketBall      1.270          0.12           -1.290         0              345.557        0
  18  Pencil          1.293          0.388          0.046          0              270            0              40
  19  CellPhone       1.293          0.912          -0.682         0              270            0              39
  20  CreditCard      -1.269         0.696          -2.191         0              0              0              53
  21  Laptop          -0.962         0.609          0.618          0              0              0              30
  22  Pillow          -1.170         0.684          -0.990         0              0              0              30
  23  Boots           1.288          0.000          -0.961         0              177.912        0
  24  Pen             1.172          0.111          -1.929         0              0              0              29
  25  AlarmClock      1.26           0.911          -0.249         0              270            0              39
  26  CD              0.937          0.576          -2.427         0              0              0              48
  27  Bowl            1.170          0.504          -2.038         0              270            0              31
  28  Drawer          0.980          0.271          -1.963         0              0              0
  29  Drawer          0.980          0.139          -1.963         0              0              0
  30  Bed             -1.209         0.016          -0.266         0              180            1.624
  31  Shelf           1.220          0.859          -1.802         0              270            0
  32  Drawer          0.980          0.404          -1.963         0              0              0
  33  Drawer          0.980          0.272          -1.639         0              0              0
  34  Mirror          0.740          1.491          2.099          0              0              0
  35  Drawer          0.980          0.139          -1.639         0              0              0
  36  Drawer          0.980          0.404          -1.639         0              0              0
  37  Chair           0.280          -0.001         -2.264         0              180            0
  38  GarbageCan      -1.542         0.013          1.919          2.249          116.925        355.175
  39  Shelf           1.259          0.903          -0.269         0              270            0
  40  Shelf           1.259          0.375          -0.263         0              270            0
  41  Shelf           1.259          1.402          -0.259         0              270            0
  42  Shelf           -1.577         1.513          -2.025         0              270            0
  43  LightSwitch     -0.755         1.176          2.099          0              180            0
  44  DeskLamp        -1.489         0.669          -2.419         0              0              0
  45  Window          0.243          0.963          -2.678         90             0              0
  46  Window          -0.361         0.963          -2.679         90             0              0
  47  Window          -0.962         0.963          -2.678         90             0              0
  48  Desk            0.445          0.001          -2.430         0              0              0
  49  Blinds          -0.349         2.186          -2.685         0              0              0
  50  Blinds          0.250          2.186          -2.685         0              0              0
  51  Blinds          -0.952         2.186          -2.685         0              0              0
  52  Drawer          -1.314         0.163          -2.051         0              90             0
  53  SideTable       -1.444         -0.001         -2.051         0              90             0
  54  Drawer          -1.314         0.455          -2.051         0              90             0
  55  NorthWall
  56  EastWall
  57  SouthWall
  58  WestWall

Plan:
STEP 1: Go to the desk | STEP 2: Pick up a pencil from the desk | STEP 3: Go to the cabinet with a lamp on top of it | STEP 4: Place the pencil in the top drawer | STEP 5: Turn around and look at the top of the cabinet | STEP 6: Pick up a pencil from the top of the cabinet | STEP 7: Turn around and look back at the cabinet | STEP 8: Place the pencil in the top drawer of the cabinet | END