Task: Putting two pencils in a drawer on the nightstand

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.900          0.0            0              90             0
   1  CellPhone       -1.309         0.508          -0.629         0              0              0              20
   2  Pen             2.158          1.144          -1.579         0              0              0              38
   3  Pencil          0.152          0.650          -1.744         0              0              0              29
   4  CreditCard      0.221          0.647          -1.664         0              0              0              29
   5  CreditCard      0.052          0.377          -1.634         0              180            0              27
   6  Book            -0.475         0.507          -0.143         0              0              0              20
   7  AlarmClock      1.964          0.778          -1.719         0              0              0              35
   8  Book            -1.142         0.507          -1.359         0              0              0              20
   9  Pencil          1.686          0.752          -1.395         0              0              0              31
  10  BasketBall      1.144          0.120          -1.656         0              23.931         0              Floor|-00.24|
  11  Laptop          -0.642         0.505          -1.115         0              0              0              20
  12  Pen             1.562          0.071          -1.324         0              0              0              37
  13  KeyChain        2.179          0.749          -1.318         0              0              0              31
  14  CreditCard      2.343          0.748          -1.433         0              0              0              31
  15  CellPhone       1.546          1.139          -1.649         0              0              0              39
  16  CD              2.661          0.045          1.303          0              0              0              22
  17  AlarmClock      2.158          0.778          -1.614         0              0              0              35
  18  Pillow          -1.142         0.588          -0.872         0              0              0              20
  19  Chair           2.161          0.008          -1.129         0              256.825        0
  20  Bed             -0.809         0.010          -0.891         0              180            0
  21  DeskLamp        0.047          0.668          -1.761         0              0              0
  22  GarbageCan      2.657          -0.021         1.275          0              0              0
  23  Mirror          2.821          1.764          -0.068         0              90             0
  24  Window          -1.677         1.402          0.365          90             270            0
  25  LightSwitch     -0.606         1.253          1.435          0              180            0
  26  Shelf           2.025          1.440          -1.730         0              0              0
  27  Drawer          0.187          0.455          -1.577         0              0              0
  28  Drawer          0.187          0.163          -1.577         0              0              0
  29  SideTable       0.186          -0.001         -1.643         0              0              0
  30  Dumbbell        1.576          0.083          -1.563         0              0              0
  31  Desk            2.017          0.000          -1.578         0              0              0
  32  GarbageBag      0.806          0.318          1.143          270            186.178        83.264
  33  Shelf           1.570          0.415          -1.563         0              0              0
  34  Shelf           1.612          0.945          -1.744         0              0              0
  35  Shelf           2.265          0.941          -1.722         0              0              0
  36  Shelf           1.572          0.630          -1.563         0              0              0
  37  Shelf           1.569          0.172          -1.563         0              0              0
  38  Shelf           2.267          1.248          -1.722         0              0              0
  39  Shelf           1.614          1.252          -1.745         0              0              0
  40  NorthWall
  41  EastWall
  42  SouthWall
  43  WestWall

Plan:
STEP 1: Turn right and go to the desk | STEP 2: Grab the pencil that's on the desk | STEP 3: Turn right and go to the nightstand on the left | STEP 4: Put the pencil in the top drawer of the nightstand | STEP 5: Move slightly to the right | STEP 6: Get the pencil that's on top of the nightstand | STEP 7: Back up and look down at the nightstand | STEP 8: Put the pencil in the top drawer | END