Task: Place 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           0.75           0.900          -0.5           0              270            0
   1  CD              -1.332         0.696          -2.481         0              0              0              50
   2  CD              1.172          0.237          -2.033         0              0              0              25
   3  Pen             -1.394         0.702          -2.191         0              0              0              50
   4  Pencil          0.466          0.582          -2.427         0              0              0              45
   5  Pencil          0.309          0.582          -2.373         0              0              0              45
   6  Pencil          1.293          1.416          -0.093         0              270            0              38
   7  CreditCard      1.318          0.504          -2.093         0              270            0              28
   8  CreditCard      1.172          0.105          -1.963         0              0              0              26
   9  Laptop          -1.203         0.609          0.057          0              0              0              27
  10  AlarmClock      -1.519         0.696          -2.191         0              0              0              50
  11  Book            -1.323         0.610          0.618          0              0              0              27
  12  KeyChain        1.071          0.506          -1.819         0              270            0              28
  13  BaseballBat     1.436          0.636          1.985          21.882         0              0
  14  BasketBall      1.270          0.12           -1.290         0              345.557        0
  15  Pencil          1.192          1.416          -0.527         0              270            0              38
  16  CellPhone       1.219          0.505          -1.929         0              270            0              28
  17  CreditCard      1.260          0.383          0.191          0              270            0              37
  18  Laptop          -1.082         0.609          -0.504         0              180            0              27
  19  Pillow          -1.170         0.684          -0.990         0              0              0              27
  20  Boots           1.288          0.000          -0.961         0              177.912        0
  21  Pen             0.466          0.582          -2.592         0              0              0              45
  22  AlarmClock      -1.510         1.521          -2.293         0              270            0              39
  23  CD              0.937          0.576          -2.592         0              0              0              45
  24  Bowl            -1.457         0.699          -1.610         0              0              0              50
  25  Drawer          0.980          0.271          -1.963         0              0              0
  26  Drawer          0.980          0.139          -1.963         0              0              0
  27  Bed             -1.209         0.016          -0.266         0              180            1.624
  28  Shelf           1.220          0.859          -1.802         0              270            0
  29  Drawer          0.980          0.404          -1.963         0              0              0
  30  Drawer          0.980          0.272          -1.639         0              0              0
  31  Mirror          0.740          1.491          2.099          0              0              0
  32  Drawer          0.980          0.139          -1.639         0              0              0
  33  Drawer          0.980          0.404          -1.639         0              0              0
  34  Chair           0.280          -0.001         -2.264         0              180            0
  35  GarbageCan      -1.542         0.013          1.919          2.249          116.925        355.175
  36  Shelf           1.259          0.903          -0.269         0              270            0
  37  Shelf           1.259          0.375          -0.263         0              270            0
  38  Shelf           1.259          1.402          -0.259         0              270            0
  39  Shelf           -1.577         1.513          -2.025         0              270            0
  40  LightSwitch     -0.755         1.176          2.099          0              180            0
  41  DeskLamp        -1.489         0.669          -2.419         0              0              0
  42  Window          0.243          0.963          -2.678         90             0              0
  43  Window          -0.361         0.963          -2.679         90             0              0
  44  Window          -0.962         0.963          -2.678         90             0              0
  45  Desk            0.445          0.001          -2.430         0              0              0
  46  Blinds          -0.349         2.186          -2.685         0              0              0
  47  Blinds          0.250          2.186          -2.685         0              0              0
  48  Blinds          -0.952         2.186          -2.685         0              0              0
  49  Drawer          -1.314         0.163          -2.051         0              90             0
  50  SideTable       -1.444         -0.001         -2.051         0              90             0
  51  Drawer          -1.314         0.455          -2.051         0              90             0
  52  NorthWall
  53  EastWall
  54  SouthWall
  55  WestWall

Plan:
STEP 1: Walk to the bed then turn left and cross the room, turn left to face the side of the white desk | STEP 2: Pick up the leftmost pencil that is sitting on the white desk | STEP 3: Turn left and walk to the end of the bed, then turn right and face the drawers that are built into the wall | STEP 4: Open the bottom right hand drawer and place the pencil inside and shut the drawer | STEP 5: Head across the room to the built in drawers then turn right to face the white desk | STEP 6: Pick up the yellow pencil sitting on the desk | STEP 7: Turn around and take a step forward then turn left and and walk past the desk chair, turn around to face the drawers built into the wall | STEP 8: Open the bottom right drawer and place the pencil inside then close the drawer | END