Task: Put two pencils in a drawer.

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           0.901          0.25           0              270            0
   1  CD              1.678          0.051          -0.373         0              345.000        0              28
   2  CD              1.370          0.692          -2.169         0              18.354         0              33
   3  Pen             1.549          0.699          -2.027         0              18.354         0              33
   4  Pencil          1.029          0.697          -2.266         0              90             0              33
   5  Pencil          -0.487         0.666          0.643          0              180            0              36
   6  CreditCard      -0.397         0.369          0.503          0              0              0              35
   7  CreditCard      -0.451         0.090          0.503          0              0              0              37
   8  KeyChain        1.527          0.473          -0.862         0              270            0              32
   9  Book            -0.291         0.692          -1.980         0              0              0              33
  10  Book            1.747          0.692          -1.744         0              0              0              33
  11  Box             -0.015         0.239          -2.091         0              0              0
  12  Book            -0.413         0.661          0.556          0              180            0              36
  13  BaseballBat     1.798          0.639          0.425          0              0              342.316
  14  Pen             0.146          0.698          -2.014         0              99.090         0              33
  15  Pencil          -0.634         0.666          0.427          0              180            0              36
  16  KeyChain        -0.670         0.370          0.457          0              90             0              35
  17  Pillow          -1.521         0.703          -0.473         0              0              0              24
  18  CreditCard      -0.506         0.369          0.457          0              0              0              35
  19  CellPhone       0.160          0.693          -2.377         0              99.090         0              33
  20  Laptop          -2.046         0.628          -0.473         0              0              0              24
  21  CD              0.265          0.692          -2.177         0              99.090         0              33
  22  Bowl            0.845          0.695          -2.125         0              90             0              33
  23  AlarmClock      1.492          0.475          -0.764         0              270            0              32
  24  Bed             -1.696         0.004          -0.446         0              0              0
  25  Chair           0.956          -0.000         -1.747         0              110.225        0
  26  DeskLamp        -0.440         0.688          -2.276         0              0              0
  27  LightSwitch     0.625          1.338          0.734          0              180            0
  28  GarbageCan      1.660          -0.019         -0.389         0              345.008        0
  29  Mirror          1.300          1.422          0.765          0              0              0
  30  HousePlant      -0.867         0.000          -2.286         0              0              0
  31  Window          0.819          1.496          -2.553         90             180            0
  32  Shelf           1.616          0.561          -0.802         0              0              0
  33  Desk            0.617          -0.000         -1.511         0              0              0
  34  Blinds          0.796          2.217          -2.476         0              0              0
  35  Drawer          -0.558         0.456          0.462          0              180            0
  36  SideTable       -0.557         -0.000         0.529          0              180            0
  37  Drawer          -0.558         0.164          0.462          0              180            0
  38  Desktop         1.455          0.692          -1.886         358.180        309.674        0
  39  NorthWall
  40  EastWall
  41  SouthWall
  42  WestWall

Plan:
STEP 1: Walk straight ahead to the end table. | STEP 2: Pick up the blue pencil on the right. | STEP 3: Walk around to the front of the end table. | STEP 4: Put the pencil in the top drawer of the end table. | STEP 5: Look up at the top of the end table. | STEP 6: Pick up the pencil on the table. | STEP 7: Look down at the drawer. | STEP 8: Put the pencil in the drawer on top of the other pencil. | END