Task: Put the pencils in the drawer of the end table.

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          -1.0           0              0              0
   1  Pencil          1.510          0.477          -0.764         0              270            0              31
   2  Pencil          1.029          0.697          -2.055         0              90             0              32
   3  Pencil          -0.487         0.666          0.643          0              180            0              35
   4  CreditCard      -0.724         0.090          0.503          0              0              0              36
   5  CreditCard      -0.724         0.369          0.526          0              0              0              34
   6  KeyChain        -0.615         0.370          0.549          0              270            0              34
   7  KeyChain        1.456          0.473          -0.813         0              270            0              31
   8  Laptop          1.580          0.691          -1.735         0              18.354         0              32
   9  Laptop          -1.346         0.628          -0.748         0              0              0              23
  10  Box             -0.015         0.239          -2.091         0              0              0
  11  Book            -1.871         0.629          -1.297         0              0              0              23
  12  BaseballBat     1.798          0.639          0.425          0              0              342.316
  13  Pen             -0.708         0.668          0.600          0              180            0              35
  14  Pencil          -0.487         0.666          0.427          0              180            0              35
  15  KeyChain        -0.397         0.091          0.480          0              90             0              36
  16  Pillow          -1.346         0.703          -0.198         0              0              0              23
  17  CreditCard      -0.506         0.369          0.457          0              0              0              34
  18  CellPhone       -1.871         0.631          -0.198         0              0              0              23
  19  Laptop          -1.346         0.628          -1.297         0              0              0              23
  20  CD              1.559          0.693          -0.906         0              0              0              32
  21  Bowl            -0.434         0.695          -2.064         0              90             0              32
  22  AlarmClock      -0.487         0.664          0.556          0              0              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: Walk to the end table next to the bed. | STEP 2: Pick up the blue pencil in front of the alarm clock. | STEP 3: Walk to the side of the end table. | STEP 4: Open the drawer in the end table, put the pencil inside, and close the drawer. | STEP 5: Walk back up to the end table. | STEP 6: Pick up the blue pencil to the right of the alarm clock. | STEP 7: Walk back to the front of the end table. | STEP 8: Open the drawer in the end table, put the pencil inside, and close the drawer. | END