Task: Put a box with a pencil in it on the table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -4.75          0.902          3.75           0              180            0
   1  TissueBox       -2.396         0.350          5.042          0              0              0              49
   2  TissueBox       -2.114         0.749          -0.159         0              0              0              55
   3  Newspaper       -2.008         0.239          6.046          0              0              0              50
   4  Newspaper       -2.253         0.749          -0.159         0              90             0              55
   5  Watch           -2.164         0.600          5.042          0              0              0              48
   6  Vase            -2.396         0.349          4.809          0              0              0              49
   7  Pen             -2.934         0.694          1.052          0              0              0              47
   8  Pen             -2.003         0.729          6.296          0              0              0              52
   9  Pencil          -2.253         0.751          0.014          0              0              0              55
  10  Pencil          -2.368         0.651          -0.077         0              0              0              56
  11  KeyChain        -0.816         0.433          5.776          0              225            0              46
  12  CreditCard      -2.551         0.345          4.809          0              0              0              49
  13  RemoteControl   -1.874         0.482          3.346          0              0              0              53
  14  RemoteControl   -2.269         0.691          1.423          0              0              0              47
  15  Box             -1.874         0.678          3.436          0              180            0              53
  16  Pillow          -2.404         0.557          3.615          0              0              0              53
  17  Book            -1.872         0.680          1.167          0              0              0              57
  18  Box             -3.362         0.219          6.426          0              0              0              50
  19  Statue          -2.269         0.695          1.793          0              0              0              61
  20  Laptop          -2.712         0.687          1.299          0              0              0              60
  21  TissueBox       -2.396         0.602          4.809          0              0              0              48
  22  CreditCard      -2.257         0.724          6.296          0              0              0              52
  23  Plate           -2.761         0.237          6.119          0              0              0              50
  24  KeyChain        -0.333         0.616          3.216          0              90             0              44
  25  Vase            -2.241         0.101          4.809          0              0              0              51
  26  Pencil          -2.393         0.751          -0.072         0              0              0              55
  27  Pillow          -3.271         0.661          3.44           0              0              331.220        53
  28  Bowl            -2.473         0.097          5.042          0              0              0              51
  29  RemoteControl   -2.086         0.351          4.887          0              0              0              49
  30  Watch           -2.490         0.689          1.423          0              0              0              47
  31  Pen             -0.252         0.711          3.200          0              0              0              43
  32  Newspaper       -2.047         0.690          1.546          0              0              0              47
  33  Painting        -2.048         1.615          -0.303         0              0              0
  34  Curtains        -0.083         2.420          0.969          0              0              0
  35  Television      -2.357         1.205          6.245          0              180            0
  36  HousePlant      -2.933         0.595          -0.093         0              0              0
  37  GarbageCan      -4.864         -0.001         0.267          0              90             0
  38  FloorLamp       -0.566         0.002          0.024          0              316.932        0
  39  DeskLamp        -0.273         0.700          3.612          0              0              0
  40  Window          -0.057         0.925          1.764          90             270            0
  41  Window          -0.057         1.130          4.886          90             270            0
  42  LightSwitch     -3.305         1.340          -0.314         0              0              0
  43  SideTable       -0.255         0.001          3.369          0              270            0
  44  Drawer          -0.306         0.626          3.369          0              270            0
  45  ArmChair        -4.376         -8.374         6.016          0              152.639        0
  46  ArmChair        -0.847         -8.106         5.983          0              231.318        0
  47  DiningTable     -2.268         -0.016         1.422          0              0              0
  48  CoffeeTable     -2.326         0.002          4.922          0              0              0
  49  Shelf           -2.326         0.338          4.922          0              0              0
  50  Shelf           -2.385         0.238          6.296          0              0              0
  51  Shelf           -2.326         0.089          4.922          0              0              0
  52  TVStand         -2.385         0.006          6.296          0              0              0
  53  Sofa            -2.404         -0.003         3.417          0              0              0
  54  SideTable       -2.935         0.004          -0.103         0              0              0
  55  SideTable       -2.113         0.002          -0.139         0              0              0
  56  Drawer          -2.113         0.654          -0.069         0              0              0
  57  Chair           -1.862         0.020          1.035          0              0              0
  58  Chair           -3.122         0.020          1.410          0              104.999        0
  59  Chair           -1.864         0.020          1.838          0              185.032        0
  60  Chair           -2.507         0.020          0.991          0              6.189          0
  61  Chair           -2.519         0.020          1.882          0              164.977        0
  62  Chair           -1.335         0.020          1.430          0              270            0
  63  NorthWall
  64  EastWall
  65  SouthWall
  66  WestWall

Plan:
STEP 1: Walk forward to the garbage then turn left and walk to the couch then turn right and walk to the plant then turn left and take a step then turn right. | STEP 2: Pick up the pencil that's on the right. | STEP 3: Turn left and walk to the curtain then turn left and walk until you pass the couch and then turn left and walk to the box on the couch. | STEP 4: Put the pencil in the box. | STEP 5: Pick up the box. | STEP 6: Turn left and walk to the curtain then Turn right and then just before you get to the table turn right and walk to the statue on the table and then face it and take a step to your right. | STEP 7: Put the box to the right of the statue. | END