Task: Place pencil on brown 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           0.900          2.25           0              0              0
   1  Statue          -1.878         0.980          -0.540         0              90             0              45
   2  CD              -1.668         1.637          -2.187         0              90             0              39
   3  Pen             -1.657         0.977          -0.742         0              0              0              45
   4  CreditCard      -1.657         0.970          -0.138         0              0              0              45
   5  CreditCard      2.691          0.437          2.006          0              90             0              61
   6  Book            1.502          0.774          -0.695         0              0              0              27
   7  Book            -1.583         0.971          0.263          0              0              0              45
   8  Pillow          2.410          0.513          1.841          0              90             0              61
   9  Laptop          1.743          0.773          -0.401         0              0              0              27
  10  Laptop          1.02           0.773          -0.106         0              0              0              27
  11  Book            0.296          0.774          0.188          0              0              0              27
  12  KeyChain        1.731          0.682          2.217          0              0              0              55
  13  AlarmClock      -1.699         1.637          -1.731         0              90             0              39
  14  Pillow          1.413          0.794          -1.505         0              0              0              27
  15  Pillow          0.537          0.836          -0.106         0              0              0              27
  16  Vase            -1.668         1.147          -2.073         0              90             0              40
  17  Laptop          1.502          0.773          0.188          0              0              0              27
  18  Vase            -1.650         1.626          -2.316         0              0              0              39
  19  Pencil          2.515          0.686          -1.536         0              0              0              58
  20  CreditCard      -1.699         1.146          -1.845         0              90             0              40
  21  Boots           -1.842         0.000          -1.077         0              135            0
  22  Pen             -1.552         0.222          -0.350         0              0              0              53
  23  CellPhone       1.808          0.681          2.262          0              0              0              55
  24  CD              -1.663         0.799          -0.349         0              0              0              46
  25  Bowl            -1.684         1.135          -2.300         0              346.900        0              40
  26  Statue          1.576          0.691          2.262          0              0              0              55
  27  Bed             1.017          0.003          -0.686         0              180            0
  28  HousePlant      -1.749         0.971          0.463          0              0              0
  29  GarbageCan      -1.665         -0.000         0.953          0              45             0
  30  Painting        0.381          1.976          -1.895         90             0              0
  31  Painting        0.879          1.976          -1.895         90             0              0
  32  Painting        1.373          1.976          -1.895         90             0              0
  33  LightSwitch     -0.164         1.085          2.450          0              180            0
  34  Mirror          -1.950         1.735          -0.206         0              270            0
  35  Window          -1.098         1.570          -3.230         90             0              0
  36  DeskLamp        1.404          0.668          2.209          0              0              0
  37  DeskLamp        2.596          0.668          -1.710         0              0              0
  38  Blinds          -1.062         2.361          -3.173         0              0              0
  39  Shelf           -1.675         1.871          -2.053         0              90             0
  40  Shelf           -1.675         1.383          -2.053         0              90             0
  41  Drawer          -1.715         0.832          -2.053         0              90             0
  42  ShelvingUnit    -1.723         0.007          -2.053         0              90             0
  43  Drawer          -1.713         0.339          -2.053         0              90             0
  44  Drawer          -1.629         0.104          0.243          0              90             0
  45  Dresser         -1.674         0.000          -0.153         0              90             0
  46  Drawer          -1.630         0.868          -0.550         0              90             0
  47  Drawer          -1.630         0.680          0.243          0              90             0
  48  Drawer          -1.629         0.104          -0.550         0              90             0
  49  Drawer          -1.630         0.680          -0.550         0              90             0
  50  Drawer          -1.630         0.868          0.243          0              90             0
  51  Drawer          -1.629         0.486          -0.550         0              90             0
  52  Drawer          -1.629         0.291          0.243          0              90             0
  53  Drawer          -1.629         0.291          -0.550         0              90             0
  54  Drawer          -1.630         0.486          0.243          0              90             0
  55  SideTable       1.576          -0.001         2.137          0              180            0
  56  Drawer          1.576          0.163          2.070          0              180            0
  57  Drawer          1.576          0.455          2.070          0              180            0
  58  SideTable       2.437          -0.001         -1.603         0              0              0
  59  Drawer          2.438          0.163          -1.536         0              0              0
  60  Drawer          2.438          0.455          -1.536         0              0              0
  61  ArmChair        2.393          -0.001         1.943          0              180            0
  62  NorthWall
  63  EastWall
  64  SouthWall
  65  WestWall

Plan:
STEP 1: turn around, go to bedside table with lamp on the left of bed | STEP 2: pick up pencil from bedside table with lamp | STEP 3: turn around, go to brown dresser with gold dog figure | STEP 4: place pencil on brown dresser | END