Task: place two pencils on right bedside table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.25           0.900          0.5            0              180            0
   1  CD              -0.276         0.619          1.066          0              180            0              40
   2  CellPhone       -1.160         0.083          -2.399         0              0              0              44
   3  CellPhone       -1.263         0.680          -2.419         0              0              0              41
   4  Pen             -0.276         0.625          0.599          0              180            0              40
   5  Pen             0.188          0.624          0.832          0              180            0              40
   6  Pencil          -0.121         0.625          0.677          0              180            0              40
   7  Pencil          -0.586         0.625          0.910          0              180            0              40
   8  CreditCard      0.909          0.374          -2.351         0              0              0              45
   9  KeyChain        -1.334         0.084          -2.375         0              270            0              44
  10  KeyChain        0.033          0.621          0.755          0              180            0              40
  11  Book            0.064          0.555          -1.880         0              0              0              28
  12  Book            -0.666         0.555          -2.103         0              0              0              28
  13  Pillow          -0.300         0.653          -1.657         0              0              0              28
  14  Laptop          -0.300         0.554          -2.325         0              90             0              28
  15  Box             2.453          0.222          -0.041         0              0              0
  16  Book            -0.741         0.617          0.755          0              180            0              40
  17  KeyChain        -1.322         0.677          -2.329         0              0              0              41
  18  Pillow          0.192          0.607          -2.307         0              0              0              28
  19  BaseballBat     0.419          0.666          1.044          10.360         0              0
  20  Pencil          -0.276         0.623          0.755          0              180            0              40
  21  CellPhone       0.064          0.557          -1.657         0              0              0              28
  22  CreditCard      -1.290         0.374          -2.375         0              0              0              46
  23  Pen             -0.431         0.625          0.833          0              180            0              40
  24  Laptop          0.247          0.554          -1.211         0              0              0              28
  25  AlarmClock      -0.741         0.620          0.988          0              180            0              40
  26  CD              -0.276         0.618          0.833          0              180            0              40
  27  Mug             -1.144         0.673          -2.508         0              0              0              41
  28  Bed             -0.118         -0.001         -1.699         0              180            0
  29  Mirror          2.644          1.347          0.384          0              90             0
  30  GarbageCan      2.467          -0.029         0.936          0              271.107        0
  31  LightSwitch     0.333          1.256          1.149          0              180            0
  32  DeskLamp        0.915          0.670          -2.435         0              0              0
  33  Painting        0.003          1.562          -2.687         90             180            0
  34  Window          -1.559         1.414          -1.356         90             270            0
  35  Window          -1.559         1.414          -0.057         90             270            0
  36  Shelf           -0.276         0.351          0.832          0              0              0
  37  Shelf           -0.276         0.099          0.832          0              0              0
  38  Blinds          -1.462         2.157          -1.343         0              90             0
  39  Blinds          -1.462         2.157          -0.046         0              90             0
  40  Desk            -0.276         -0.001         0.833          0              0              0
  41  SideTable       -1.204         0.002          -2.456         0              0              0
  42  SideTable       0.948          0.002          -2.456         0              0              0
  43  Drawer          0.948          0.166          -2.389         0              0              0
  44  Drawer          -1.204         0.166          -2.389         0              0              0
  45  Drawer          0.948          0.458          -2.389         0              0              0
  46  Drawer          -1.204         0.458          -2.389         0              0              0
  47
  48  NorthWall
  49  EastWall
  50  SouthWall
  51  WestWall

Plan:
STEP 1: turn right, go to table to the right with book and clock | STEP 2: pick up yellow pencil to the right of clock | STEP 3: turn around, go to right bedside table with phone and keys | STEP 4: place pencil on top of cell phone on bedside table | STEP 5: turn around, go to table with clock and book | STEP 6: pick up yellow pencil in between CD and white pencil | STEP 7: turn around, go to right bedside table with phone and keys | STEP 8: place pencil to the left of cell phone on bedside table | END