Task: To move 2 pencils one at a time from a cabinet to 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           1.5            0.900          1.5            0              180            0
   1  Pen             -0.402         0.382          -0.285         0              0              0              33
   2  Pen             -0.603         0.930          -1.245         0              0              0              34
   3  Pencil          2.143          0.846          -0.615         0              0              0              29
   4  KeyChain        2.195          0.461          -0.679         0              0              0              27
   5  AlarmClock      -0.414         0.925          -1.245         0              0              0              34
   6  Pillow          -0.148         0.617          0.971          0              0              0              19
   7  Box             2.15           0.14           0.494          0              12.243         0
   8  Book            2.333          0.844          -0.877         0              0              0              29
   9  BasketBall      -0.235         0.120          0.166          0              0              0
  10  Pen             -0.225         0.930          -0.391         0              0              0              34
  11  Pillow          -0.025         0.561          2.458          0              0              0              19
  12  Pencil          2.238          0.846          -0.615         0              0              0              29
  13  CellPhone       -0.245         0.090          -0.285         0              0              0              33
  14  KeyChain        -0.509         0.925          -0.177         0              0              0              34
  15  CreditCard      2.238          0.842          -0.484         0              0              0              29
  16  AlarmClock      -0.414         0.925          -1.459         0              0              0              34
  17  CD              -0.131         0.924          -1.032         0              0              0              34
  18  Laptop          0.172          0.548          1.848          0              0              0              19
  19  Bed             0.009          -0.004         1.577          0              0              0
  20  DeskLamp        -0.669         0.923          -0.062         0              90             0
  21  Painting        -0.787         1.809          -0.215         90             270            0
  22  Painting        -0.787         1.809          1.023          90             270            0
  23  Mirror          2.118          1.277          2.749          0              0              0
  24  LightSwitch     0.726          1.200          2.75           0              180            0
  25  GarbageCan      2.257          -0.008         2.603          353.970        0              0
  26  Window          0.665          1.356          -1.911         90             0              0
  27  Drawer          2.119          0.576          -0.491         4.458          270            0
  28  Drawer          2.147          0.213          -0.491         4.458          270            0
  29  SideTable       2.226          0.013          -0.492         4.458          270            0
  30  Chair           0.170          0.011          -1.214         0              261.719        0
  31  Blinds          0.695          1.983          -1.867         0              0              0
  32  Drawer          -0.079         0.513          -0.394         0              90             0
  33  Drawer          -0.079         0.226          -0.394         0              90             0
  34  Desk            -0.391         0.001          -0.811         0              90             0
  35  Drawer          -0.079         0.762          -0.394         0              90             0
  36  NorthWall
  37  EastWall
  38  SouthWall
  39  WestWall

Plan:
STEP 1: Take two steps and turn left and walk forward to face a cabinet. | STEP 2: Pick up the top pencil on the table. | STEP 3: Turn to the right, walk across the room, turn to the right, walk across the room to face the table. | STEP 4: Place the pencil on the table. | STEP 5: Turn to the right, take a step, turn to the right walk across the room to face a cabinet. | STEP 6: Pick up the pencil laying on the cabinet. | STEP 7: Turn to the right, walk across the room, turn to the right, walk across the room to face the table. | STEP 8: Place the pencil on the table. | END