Task: to grab a pencil from the night stand and place it on the dresser

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: look at the wall then turn left walk forward towards the door. Then turn right and walk towards the wall turn right towards the night stand  | STEP 2: pick up the pencil from the night stand  | STEP 3: turn right towards the bed and turn back towards the chair turn left at the end of the bed walk towards the recycling bin and turn left  then turn right towards the dresser | STEP 4: place the pencil on a stand on the dresser  | END