Task: To move a pencil from the top of a computer desk to a space above the drawers on the left side of the desk.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.909          -3.25          0              90             0
   1  CD              -0.502         0.348          -3.747         0              0              0              31
   2  CellPhone       -0.249         0.800          -4.137         0              0              0              38
   3  Pen             -0.685         0.548          -3.713         0              0              0              32
   4  Pencil          -3.751         0.422          -3.885         0              0              0              44
   5  Pencil          -0.657         0.803          -3.703         0              0              0              38
   6  Book            -3.613         0.981          -3.673         0              0              0              41
   7  Book            -3.613         0.981          -3.070         0              0              0              41
   8  AlarmClock      -1.270         0.803          -3.703         0              0              0              38
   9  AlarmClock      -0.329         0.542          -3.713         0              0              0              38
  10  Book            -2.981         0.620          -2.080         0              0              0              23
  11  CellPhone       -2.770         0.620          -1.218         0              0              0              23
  12  Laptop          -1.169         0.796          -4.096         0              27.912         0              38
  13  CreditCard      -0.655         0.349          -3.811         0              0              0              32
  14  AlarmClock      -3.687         0.981          -4.276         0              0              0              41
  15  KeyChain        -0.507         0.543          -3.731         0              0              0              32
  16  TeddyBear       -2.567         0.575          -0.386         357.948        14.682         7.781          23
  17  BaseballBat     -1.155         0.033          -3.997         90             59.999         0              Floor|-01.88|
  18  Pencil          -0.657         0.803          -4.137         0              180            0              38
  19  Pillow          -3.335         0.681          -0.415         0              0              0              23
  20  CD              -0.731         0.029          -3.876         0              0              0              30
  21  Pen             -3.760         0.986          -3.472         0              0              0              41
  22  Mug             -3.834         0.977          -3.673         0              0              0              41
  23  Bed             -2.980         0.009          -1.177         0              0              0
  24  LightSwitch     -1.620         1.351          0.0            0              180            0
  25  DeskLamp        -1.529         0.790          -4.298         0              0              0
  26  Mirror          -0.002         1.251          -2.592         0              90             0
  27  GarbageCan      -1.843         -0.017         -3.897         0              279.992        0
  28  Window          0.209          1.180          -1.504         90             270            0
  29  Drawer          -0.503         0.067          -4.188         0              180            0
  30  Drawer          -0.502         0.226          -3.799         0              0              0
  31  Drawer          -0.502         0.385          -3.799         0              0              0
  32  CoffeeTable     -0.503         0.009          -3.990         0              0              0
  33  Drawer          -0.502         0.067          -3.799         0              0              0
  34  Blinds          0.163          2.196          -1.495         0              270            0
  35  TableTopDecor   -3.586         0.996          -3.055         0              180            0
  36  Drawer          -0.503         0.385          -4.188         0              180            0
  37  Drawer          -0.503         0.226          -4.188         0              180            0
  38  Desk            -0.862         0.006          -4.028         0              0              0
  39  Drawer          -3.609         0.876          -4.055         0              90             0
  40  Drawer          -3.608         0.112          -3.261         0              90             0
  41  Dresser         -3.653         0.008          -3.658         0              90             0
  42  Drawer          -3.609         0.688          -3.261         0              90             0
  43  Drawer          -3.609         0.300          -3.261         0              90             0
  44  Drawer          -3.609         0.494          -4.055         0              90             0
  45  Drawer          -3.609         0.300          -4.055         0              90             0
  46  Drawer          -3.608         0.112          -4.055         0              90             0
  47  Drawer          -3.609         0.688          -4.055         0              90             0
  48  Drawer          -3.609         0.876          -3.261         0              90             0
  49  Drawer          -3.609         0.494          -3.261         0              90             0
  50  NorthWall
  51  EastWall
  52  SouthWall
  53  WestWall

Plan:
STEP 1: Turn right to face the computer desk. | STEP 2: Pick up the pencil on the computer desk. | STEP 3: Look down to face the space above the drawers on the left side of the desk. | STEP 4: Place the pencil in the space above the drawers on the left side of the desk. | END