Task: Place two pencils in bottom drawer of 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           1.25           0.900          0.75           0              270            0
   1  Pen             1.517          0.556          -1.338         0              0              0              38
   2  Pencil          1.850          0.752          -1.357         0              0              0              33
   3  Pencil          1.522          0.752          -1.280         0              0              0              33
   4  CreditCard      0.221          0.647          -1.585         0              0              0              31
   5  KeyChain        0.253          0.377          -1.613         0              270            0              29
   6  KeyChain        0.152          0.647          -1.823         0              0              0              31
   7  Pillow          -0.642         0.588          -1.602         0              0              0              22
   8  AlarmClock      2.353          0.778          -1.719         0              0              0              37
   9  AlarmClock      1.472          0.307          -1.338         0              0              0              35
  10  Book            -0.308         0.507          -0.143         0              0              0              22
  11  Pencil          2.508          0.752          -1.357         0              0              0              33
  12  BasketBall      1.144          0.120          -1.656         0              23.931         0              Floor|-00.24|
  13  Laptop          -0.794         0.495          -0.303         0              61.899         0              22
  14  Pen             2.661          0.051          1.276          0              0              0              24
  15  KeyChain        0.221          0.647          -1.704         0              0              0              31
  16  CreditCard      0.102          0.120          -1.676         0              180            0              30
  17  CellPhone       1.522          0.749          -1.357         0              0              0              33
  18  CD              1.686          0.748          -1.433         0              0              0              33
  19  AlarmClock      1.562          0.065          -1.338         0              0              0              39
  20  Pillow          -0.475         0.588          -0.872         0              0              0              22
  21  Chair           2.161          0.008          -1.129         0              256.825        0
  22  Bed             -0.809         0.010          -0.891         0              180            0
  23  DeskLamp        0.047          0.668          -1.761         0              0              0
  24  GarbageCan      2.657          -0.021         1.275          0              0              0
  25  Mirror          2.821          1.764          -0.068         0              90             0
  26  Window          -1.677         1.402          0.365          90             270            0
  27  LightSwitch     -0.606         1.253          1.435          0              180            0
  28  Shelf           2.025          1.440          -1.730         0              0              0
  29  Drawer          0.187          0.455          -1.577         0              0              0
  30  Drawer          0.187          0.163          -1.577         0              0              0
  31  SideTable       0.186          -0.001         -1.643         0              0              0
  32  Dumbbell        1.576          0.083          -1.563         0              0              0
  33  Desk            2.017          0.000          -1.578         0              0              0
  34  GarbageBag      0.806          0.318          1.143          270            186.178        83.264
  35  Shelf           1.570          0.415          -1.563         0              0              0
  36  Shelf           1.612          0.945          -1.744         0              0              0
  37  Shelf           2.265          0.941          -1.722         0              0              0
  38  Shelf           1.572          0.630          -1.563         0              0              0
  39  Shelf           1.569          0.172          -1.563         0              0              0
  40  Shelf           2.267          1.248          -1.722         0              0              0
  41  Shelf           1.614          1.252          -1.745         0              0              0
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: turn left, go to right side of desk chair | STEP 2: pick up pencil under cell phone on right side of desk | STEP 3: turn right, face bed and bedside table | STEP 4: open bottom drawer of bedside table, place pencil in bottom drawer of bedside table, close drawer | STEP 5: turn left, go to right side of desk chair | STEP 6: pick up pencil to the left of CD on desk | STEP 7: turn right, face bed and bedside table to the left of bed | STEP 8: open bottom drawer of bedside table, place pencil in bottom drawer of bedside table, close drawer | END