Task: Put two pencils in the top 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            0.901          -0.75          0              0              0
   1  CD              1.633          0.051          -0.405         0              345.000        0              27
   2  CellPhone       1.497          0.694          -0.906         0              0              0              32
   3  CellPhone       -2.046         0.631          -0.473         0              0              0              23
   4  Pencil          -0.362         0.697          -1.980         0              90             0              32
   5  Pencil          1.401          0.697          -1.877         0              18.354         0              32
   6  Pencil          -0.017         0.696          -2.132         0              99.090         0              32
   7  Book            -0.339         0.661          0.600          0              180            0              35
   8  AlarmClock      0.661          0.695          -2.125         0              90             0              32
   9  AlarmClock      1.580          0.695          -1.735         0              18.354         0              32
  10  Box             -0.015         0.239          -2.091         0              0              0
  11  Book            1.684          0.692          -1.241         0              0              0              32
  12  BaseballBat     1.798          0.639          0.425          0              0              342.316
  13  Pen             1.545          0.479          -0.715         0              90             0              31
  14  Pencil          0.217          0.696          -2.025         0              99.090         0              32
  15  KeyChain        -0.615         0.370          0.457          0              90             0              34
  16  Pillow          -1.694         0.656          0.415          0              0              0              23
  17  CreditCard      1.527          0.473          -0.667         0              270            0              31
  18  CellPhone       -2.046         0.631          -0.748         0              0              0              23
  19  Laptop          -1.696         0.628          -1.023         0              0              0              23
  20  CD              1.434          0.692          -1.241         0              0              0              32
  21  Bowl            -0.219         0.695          -2.064         0              90             0              32
  22  AlarmClock      -0.561         0.664          0.513          0              180            0              35
  23  Bed             -1.696         0.004          -0.446         0              0              0
  24  Chair           0.956          -0.000         -1.747         0              110.225        0
  25  DeskLamp        -0.440         0.688          -2.276         0              0              0
  26  LightSwitch     0.625          1.338          0.734          0              180            0
  27  GarbageCan      1.660          -0.019         -0.389         0              345.008        0
  28  Mirror          1.300          1.422          0.765          0              0              0
  29  HousePlant      -0.867         0.000          -2.286         0              0              0
  30  Window          0.819          1.496          -2.553         90             180            0
  31  Shelf           1.616          0.561          -0.802         0              0              0
  32  Desk            0.617          -0.000         -1.511         0              0              0
  33  Blinds          0.796          2.217          -2.476         0              0              0
  34  Drawer          -0.558         0.456          0.462          0              180            0
  35  SideTable       -0.557         -0.000         0.529          0              180            0
  36  Drawer          -0.558         0.164          0.462          0              180            0
  37  Desktop         1.455          0.692          -1.886         358.180        309.674        0
  38  NorthWall
  39  EastWall
  40  SouthWall
  41  WestWall

Plan:
STEP 1: Turn around and face the table. | STEP 2: Pick up the blue pencil that is closest to the edge of the table. | STEP 3: Turn around, walk straight then turn left to face the drawer. | STEP 4: Open the top drawer, then place the pencil inside then close it. | STEP 5: Turn left and head back to the table. | STEP 6: Pick up the blue pencil below the chess board. | STEP 7: Turn around again walk straight then face the drawer on the left. | STEP 8: Open the top drawer and place the pencil inside. | END