Task: put pencil on bureau top

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          0.900          -2.5           0              90             0
   1  Statue          -1.699         1.156          -2.073         0              90             0              36
   2  CD              1.731          0.680          2.217          0              0              0              51
   3  CreditCard      2.690          0.437          1.921          0              90             0              57
   4  KeyChain        2.315          0.434          1.672          0              270            0              57
   5  KeyChain        -1.668         1.639          -1.959         0              90             0              35
   6  Book            -1.550         0.799          -0.723         0              0              0              42
   7  Book            2.410          0.451          1.841          0              90             0              57
   8  KeyChain        -1.583         0.973          -0.540         0              0              0              41
   9  AlarmClock      -1.583         0.972          -0.742         0              0              0              41
  10  Pillow          1.413          0.794          -1.505         0              0              0              23
  11  Pillow          1.743          0.836          0.188          0              0              0              23
  12  Vase            2.283          0.681          -1.581         0              0              0              54
  13  Laptop          0.296          0.773          -1.579         0              0              0              23
  14  Vase            -1.650         1.626          -2.316         0              0              0              35
  15  Pencil          2.515          0.686          -1.626         0              0              0              54
  16  CreditCard      1.633          0.374          2.201          0              0              0              53
  17  Boots           -1.842         0.000          -1.077         0              135            0
  18  Pen             -1.663         0.805          0.349          0              0              0              46
  19  CellPhone       0.537          0.775          -0.990         0              0              0              23
  20  CD              -1.494         0.800          -0.536         0              0              0              42
  21  Bowl            -1.684         1.135          -2.300         0              346.900        0              36
  22  Statue          1.576          0.691          2.217          0              0              0              51
  23  Bed             1.017          0.003          -0.686         0              180            0
  24  HousePlant      -1.749         0.971          0.463          0              0              0
  25  GarbageCan      -1.665         -0.000         0.953          0              45             0
  26  Painting        0.381          1.976          -1.895         90             0              0
  27  Painting        0.879          1.976          -1.895         90             0              0
  28  Painting        1.373          1.976          -1.895         90             0              0
  29  LightSwitch     -0.164         1.085          2.450          0              180            0
  30  Mirror          -1.950         1.735          -0.206         0              270            0
  31  Window          -1.098         1.570          -3.230         90             0              0
  32  DeskLamp        1.404          0.668          2.209          0              0              0
  33  DeskLamp        2.596          0.668          -1.710         0              0              0
  34  Blinds          -1.062         2.361          -3.173         0              0              0
  35  Shelf           -1.675         1.871          -2.053         0              90             0
  36  Shelf           -1.675         1.383          -2.053         0              90             0
  37  Drawer          -1.715         0.832          -2.053         0              90             0
  38  ShelvingUnit    -1.723         0.007          -2.053         0              90             0
  39  Drawer          -1.713         0.339          -2.053         0              90             0
  40  Drawer          -1.629         0.104          0.243          0              90             0
  41  Dresser         -1.674         0.000          -0.153         0              90             0
  42  Drawer          -1.630         0.868          -0.550         0              90             0
  43  Drawer          -1.630         0.680          0.243          0              90             0
  44  Drawer          -1.629         0.104          -0.550         0              90             0
  45  Drawer          -1.630         0.680          -0.550         0              90             0
  46  Drawer          -1.630         0.868          0.243          0              90             0
  47  Drawer          -1.629         0.486          -0.550         0              90             0
  48  Drawer          -1.629         0.291          0.243          0              90             0
  49  Drawer          -1.629         0.291          -0.550         0              90             0
  50  Drawer          -1.630         0.486          0.243          0              90             0
  51  SideTable       1.576          -0.001         2.137          0              180            0
  52  Drawer          1.576          0.163          2.070          0              180            0
  53  Drawer          1.576          0.455          2.070          0              180            0
  54  SideTable       2.437          -0.001         -1.603         0              0              0
  55  Drawer          2.438          0.163          -1.536         0              0              0
  56  Drawer          2.438          0.455          -1.536         0              0              0
  57  ArmChair        2.393          -0.001         1.943          0              180            0
  58  NorthWall
  59  EastWall
  60  SouthWall
  61  WestWall

Plan:
STEP 1: walk to face night table on left side of bed | STEP 2: pick up pencil from table | STEP 3: walk to face left side of bureau | STEP 4: put pencil on bureau top | END