Task: Pick up a pencil, place it in a tray, move the tray to the table in front of the couch

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          0.907          5.5            0              270            0
   1  Bowl            0.233          0.553          2.605          0              0              0              40
   2  Newspaper       -3.930         0.761          -0.502         0              0              0              52
   3  Watch           -3.747         0.754          -0.379         0              0              0              55
   4  Watch           0.492          0.552          2.905          0              0              0              40
   5  Vase            -3.747         0.757          -0.255         0              0              0              55
   6  Vase            0.578          0.554          3.056          0              0              0              40
   7  Pencil          -1.029         0.884          0.140          0              90             0              57
   8  Pencil          -4.659         0.758          -0.626         0              0              0              53
   9  Pencil          -1.340         0.884          0.257          0              90             0              57
  10  KeyChain        -0.970         0.454          2.086          0              0              0              56
  11  KeyChain        -4.295         0.755          -0.749         0              0              0              53
  12  CellPhone       -1.204         0.450          2.795          0              0              0              56
  13  RemoteControl   -4.842         0.757          -0.626         0              0              0              51
  14  Book            -4.295         0.755          -0.379         0              0              0              55
  15  Box             0.957          0.286          6.189          0              327.955        0              48
  16  Pillow          0.438          0.581          5.162          321.968        0              0              48
  17  Bowl            0.405          0.553          2.454          0              0              0              40
  18  WateringCan     -0.816         0.005          0.189          0              0              0
  19  TissueBox       -0.993         0.874          0.236          0              0              0              57
  20  Newspaper       -4.842         0.761          -0.008         0              0              0              49
  21  CreditCard      0.258          0.200          2.216          0              180            0              43
  22  KeyChain        -1.132         0.880          0.101          0              90             0              57
  23  Boots           -6.309         0.006          1.252          0              92.842         0
  24  Pencil          -1.236         0.884          0.140          0              90             0              57
  25  Laptop          0.405          0.549          2.153          0              0              0              40
  26  Vase            -3.747         0.757          -0.008         0              0              0              55
  27  RemoteControl   0.492          0.554          2.755          0              0              0              40
  28  Watch           -0.925         0.879          0.140          0              90             0              57
  29  CellPhone       -4.659         0.754          -0.255         0              0              0              55
  30  Plate           -4.044         0.748          -0.078         0              0              0              54
  31  Painting        -6.5           1.759          -0.341         0              0              0
  32  Painting        0.704          1.778          0.782          0              0              0
  33  Television      1.5            1.690          2.562          0              270            0
  34  FloorLamp       1.111          0.007          6.805          0              0              0
  35  GarbageCan      -6.128         -0.003         2.800          0              0              0
  36  LightSwitch     -6.5           1.498          1.345          0              90             0
  37  HousePlant      -0.753         0.874          0.209          0              0              0
  38  Window          1.496          1.712          4.454          90             90             0
  39  Window          -4.210         1.577          -1.980         90             180            0
  40  CoffeeTable     0.405          0.008          2.605          0              270            0
  41  Drawer          0.597          0.234          2.604          0              270            0
  42  Drawer          0.214          0.393          2.604          0              270            0
  43  Drawer          0.214          0.234          2.609          0              270            0
  44  Drawer          0.214          0.075          2.604          0              270            0
  45  Drawer          0.597          0.075          2.604          0              270            0
  46  Drawer          0.597          0.393          2.604          0              270            0
  47  Ottoman         0.493          0.006          4.309          0              0              0
  48  ArmChair        0.420          0.014          5.129          0              180            0
  49  Chair           -4.664         0.008          0.164          0              180            0
  50  Chair           -3.424         0.008          -0.321         0              270            0
  51  Chair           -4.988         0.008          -0.401         0              90             0
  52  Chair           -3.904         0.008          -0.827         0              0              0
  53  Chair           -4.570         0.008          -0.831         0              0              0
  54  Chair           -3.996         0.008          0.091          0              180            0
  55  DiningTable     -4.295         0.006          -0.378         0              0              0
  56  Sofa            -1.527         0.013          2.559          0              90             0
  57  SideTable       -1.030         0.006          0.160          0              0              0
  58  Drawer          -1.030         0.780          0.225          0              0              0
  59  NorthWall
  60  EastWall
  61  SouthWall
  62  WestWall

Plan:
STEP 1: Walk in the direction of the door, hang a left at the stairs, walk toward the dining room table, hang a left toward the direction the fireplace, stop at the brown table to the right of the fireplace. | STEP 2: Pick up the middle pencil on the brown table. | STEP 3: Turn around and walk to the dining room table at the end with the two white vases and brown tray. | STEP 4: Place the pencil inside the tray. | STEP 5: Pick up the tray with the pencil in it. | STEP 6: Turn towards your left and walk in the direction of the fireplace, hang a left at the front of the purple couch, turn toward the table with drawers across from the front of the couch. | STEP 7: Place the tray at the left front of the table with drawers and in front of the wrist watch and remote control. | END