Task: put a pencil on to the counter

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            0.937          3.5            0              180            0
   1  Mug             1.068          0.075          -3.077         0              0              0              30
   2  CD              1.775          0.093          -2.997         0              90             0              51
   3  CD              -2.745         0.082          -3.055         0              0              0              27
   4  Pen             -0.365         0.088          -2.830         0              0              0              32
   5  Pencil          1.657          0.556          2.612          0              0              0              53
   6  CreditCard      -0.365         0.083          -2.986         0              0              0              32
   7  Book            -2.331         0.190          3.503          0              180            0              46
   8  Book            -1.851         1.115          -3.158         0              0              0              33
   9  KeyChain        -0.602         1.117          -2.988         0              0              0              33
  10  KeyChain        1.537          0.553          2.391          0              90             0              53
  11  AlarmClock      -1.227         1.118          -2.817         0              0              0              33
  12  Book            -2.164         1.115          -2.902         0              0              0              33
  13  AlarmClock      -1.851         1.118          -2.732         0              0              0              33
  14  CellPhone       -1.16          0.586          -2.934         0              0              0              29
  15  Pillow          1.243          0.940          0.495          0              0              0              26
  16  Pillow          1.815          0.87           1.153          0              270            0              26
  17  TeddyBear       1.868          0.036          -0.561         0              59.999         0              Floor|-00.06|
  18  CreditCard      -2.010         0.190          3.593          0              180            0              46
  19  KeyChain        -1.227         1.117          -2.988         0              90             0              33
  20  Pencil          -3.397         0.377          -2.815         0              4.809          0              35
  21  Laptop          -1.539         1.114          -2.817         0              0              0              33
  22  RemoteControl   -0.289         1.118          -2.902         0              0              0              33
  23  CD              -2.164         1.115          -3.073         0              0              0              33
  24  Pen             1.755          0.559          2.253          0              0              0              53
  25  Mug             -2.865         0.080          -3.135         0              0              0              27
  26  Bed             0.967          0.049          0.667          0              90             0
  27  Cabinet         -3.0           1.497          -2.643         0              0              0
  28  Drawer          -0.365         0.785          -2.848         0              0              0
  29  Drawer          -1.159         0.785          -2.848         0              0              0
  30  Cabinet         2.064          1.497          -2.643         0              0              0
  31  Drawer          -1.159         0.285          -2.848         0              0              0
  32  Drawer          -0.365         0.285          -2.848         0              0              0
  33  Desk            -1.271         1.169          -2.987         0              0              0
  34  LightSwitch     -0.159         1.281          3.999          0              180            0
  35  GarbageCan      -3.338         0.022          -2.797         0              4.809          0
  36  HousePlant      -0.195         1.105          -3.084         0              0              0
  37  DeskLamp        1.863          0.581          2.431          0              0              0
  38  Mirror          -1.603         1.447          3.999          0              0              0
  39  Television      -3.883         1.771          2.122          0              90             0
  40  Window          -1.952         2.148          -3.302         90             180            0
  41  Window          -0.467         2.148          -3.302         90             180            0
  42  Window          -3.894         1.751          0.582          90             270            0
  43  Window          -3.894         1.751          -0.675         90             270            0
  44  LaundryHamper   1.831          0.058          3.689          0              354.434        1.354
  45  ArmChair        -0.948         0.051          3.583          0              175.988        0
  46  ArmChair        -2.172         0.051          3.598          0              180            0
  47  Blinds          -0.477         2.785          -3.253         0              0              0
  48  Blinds          -1.957         2.785          -3.253         0              0              0
  49  Blinds          -3.799         2.506          0.602          0              90             0
  50  Blinds          -3.799         2.506          -0.647         0              90             0
  51  Safe            1.673          0.054          -3.004         0              0              0
  52  ArmChair        -3.349         0.051          3.375          0              150.096        0
  53  SideTable       1.775          0.048          2.377          0              0              0
  54  Chair           -2.002         0.050          -2.532         0              165.000        0
  55  NorthWall
  56  EastWall
  57  SouthWall
  58  WestWall

Plan:
STEP 1: turn to the right and move to the chairs on the right and make a left to move forward across the room to the blue recycle can in the corner nook. | STEP 2: pick up the pencil from the blue recycle can | STEP 3: turn to the left and move passed the desk chair on the left to the counter with the drawers underneath, turn to face the clock on the counter | STEP 4: put the pencil on to the counter to the left of the clock | END