Task: Get the pencil, put the pencil on the tray, take tray to coffee table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -5.5           0.907          1.5            0              270            0
   1  TissueBox       -4.477         0.756          -0.131         0              0              0              52
   2  TissueBox       -4.477         0.756          -0.379         0              0              0              52
   3  Watch           -1.029         0.879          0.101          0              90             0              54
   4  Watch           0.521          0.357          2.475          0              0              0              43
   5  Vase            -3.930         0.757          -0.626         0              0              0              49
   6  Vase            0.664          0.554          2.153          0              0              0              37
   7  Pencil          0.664          0.555          3.056          0              0              0              37
   8  KeyChain        0.492          0.552          2.153          0              90             0              37
   9  Book            0.319          0.552          2.304          0              0              0              37
  10  Book            -0.970         0.455          2.322          0              0              0              53
  11  Book            -4.842         0.755          -0.131         0              0              0              48
  12  Box             0.957          0.286          6.189          0              327.955        0              45
  13  Pillow          0.438          0.581          5.162          321.968        0              0              45
  14  Bowl            -4.659         0.756          -0.626         0              0              0              50
  15  WateringCan     -0.816         0.005          0.189          0              0              0
  16  TissueBox       -3.747         0.756          -0.502         0              0              0              49
  17  Newspaper       -4.112         0.761          -0.502         0              0              0              52
  18  CreditCard      -3.747         0.754          -0.626         0              0              0              49
  19  KeyChain        -0.970         0.454          3.031          0              0              0              53
  20  Boots           -6.309         0.006          1.252          0              92.842         0
  21  Pencil          0.664          0.555          2.755          0              0              0              37
  22  Laptop          0.493          0.422          4.309          0              90             0              44
  23  Vase            -4.659         0.757          -0.379         0              0              0              52
  24  RemoteControl   -1.437         0.452          2.559          0              0              0              53
  25  Watch           0.492          0.552          2.605          0              0              0              37
  26  CellPhone       -1.671         0.450          3.031          0              0              0              53
  27  Plate           -4.044         0.748          -0.078         0              0              0              51
  28  Painting        -6.5           1.759          -0.341         0              0              0
  29  Painting        0.704          1.778          0.782          0              0              0
  30  Television      1.5            1.690          2.562          0              270            0
  31  FloorLamp       1.111          0.007          6.805          0              0              0
  32  GarbageCan      -6.128         -0.003         2.800          0              0              0
  33  LightSwitch     -6.5           1.498          1.345          0              90             0
  34  HousePlant      -0.753         0.874          0.209          0              0              0
  35  Window          1.496          1.712          4.454          90             90             0
  36  Window          -4.210         1.577          -1.980         90             180            0
  37  CoffeeTable     0.405          0.008          2.605          0              270            0
  38  Drawer          0.597          0.234          2.604          0              270            0
  39  Drawer          0.214          0.393          2.604          0              270            0
  40  Drawer          0.214          0.234          2.609          0              270            0
  41  Drawer          0.214          0.075          2.604          0              270            0
  42  Drawer          0.597          0.075          2.604          0              270            0
  43  Drawer          0.597          0.393          2.604          0              270            0
  44  Ottoman         0.493          0.006          4.309          0              0              0
  45  ArmChair        0.420          0.014          5.129          0              180            0
  46  Chair           -4.664         0.008          0.164          0              180            0
  47  Chair           -3.424         0.008          -0.321         0              270            0
  48  Chair           -4.988         0.008          -0.401         0              90             0
  49  Chair           -3.904         0.008          -0.827         0              0              0
  50  Chair           -4.570         0.008          -0.831         0              0              0
  51  Chair           -3.996         0.008          0.091          0              180            0
  52  DiningTable     -4.295         0.006          -0.378         0              0              0
  53  Sofa            -1.527         0.013          2.559          0              90             0
  54  SideTable       -1.030         0.006          0.160          0              0              0
  55  Drawer          -1.030         0.780          0.225          0              0              0
  56  NorthWall
  57  EastWall
  58  SouthWall
  59  WestWall

Plan:
STEP 1: Turn around, walk towards coffee table, turn left, face coffee table.  | STEP 2: Pick up pencil on the left from coffee table. | STEP 3: Turn left walk towards wall, turn right walk towards table. | STEP 4: Place pencil on tray. | STEP 5: Pick up tray with pencil on it. | STEP 6: Walk to coffee table. | STEP 7: Put tray on to coffee table next to book. | END