Task: Move a pencil from one desk to an adjacent desk.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.900          -0.75          0              180            0
   1  Bowl            0.459          0.813          -2.507         0              0              0              48
   2  Pen             -0.587         0.867          -2.311         0              0              0              55
   3  Pencil          -0.061         0.815          -2.236         0              0              0              48
   4  CreditCard      -1.187         1.362          -2.435         0              0              0              51
   5  CreditCard      -1.232         0.372          -2.287         0              0              0              53
   6  KeyChain        -1.406         0.372          -2.287         0              0              0              53
   7  Laptop          -0.046         0.772          1.173          0              0              0              26
   8  AlarmClock      -1.594         0.862          -2.498         0              0              0              55
   9  Book            0.189          0.805          -2.27          0              195.000        0              48
  10  Cloth           1.303          0.0            -0.696         0              303.212        0
  11  Cloth           1.273          0.0            -0.969         0              0              0
  12  CellPhone       -0.587         0.861          -2.561         0              0              0              55
  13  Pencil          0.355          0.816          -2.304         0              0              0              48
  14  Laptop          -0.621         0.772          1.657          0              0              0              26
  15  AlarmClock      1.494          0.824          -1.363         0              270            0              46
  16  CreditCard      1.494          0.823          -1.673         0              270            0              46
  17  KeyChain        0.146          0.813          -2.507         0              90             0              48
  18  TennisRacket    -1.704         0.345          1.743          345.000        90             180
  19  RemoteControl   -1.192         0.863          -2.436         0              0              0              55
  20  Pillow          0.528          0.902          1.657          0              0              0              26
  21  CD              1.521          0.817          -1.727         0              0              0              46
  22  CD              0.527          0.806          -2.485         0              0              0              48
  23  CD              -1.319         0.651          -2.363         0              0              0              54
  24  Pen             1.494          0.829          -1.467         0              270            0              46
  25  Bowl            -0.990         0.863          -2.436         0              0              0              55
  26  Bed             0.270          0.001          1.331          0              90             0
  27  LaundryHamper   -1.329         0.001          1.829          0              180            0
  28  Television      -1.664         1.479          -0.912         0              90             0
  29  DeskLamp        0.049          0.815          -2.481         0              0              0
  30  LightSwitch     -1.799         1.213          0.680          0              90             0
  31  Painting        0.492          1.684          -2.629         90             0              0
  32  Poster          -1.799         1.690          -1.491         90             270            0
  33  GarbageCan      1.306          -0.001         -2.451         0              317.376        0
  34  Mirror          1.5            1.361          -0.542         0              90             0
  35  Window          1.721          1.365          -1.597         90             270            0
  36  Shelf           -1.605         0.435          -0.686         0              90             0
  37  Shelf           -1.613         1.154          -0.904         0              90             0
  38  ShelvingUnit    -1.611         0.005          -0.904         0              90             0
  39  Shelf           -1.605         0.719          -1.122         0              90             0
  40  Shelf           -1.605         0.435          -1.122         0              90             0
  41  Shelf           -1.605         1.006          -1.122         0              90             0
  42  Shelf           -1.605         0.148          -0.686         0              90             0
  43  Shelf           -1.605         0.149          -1.122         0              90             0
  44  Shelf           -1.605         1.006          -0.686         0              90             0
  45  Shelf           -1.605         0.719          -0.686         0              90             0
  46  SideTable       1.484          0.001          -1.481         0              270            0
  47  Blinds          1.699          2.096          -1.575         0              270            0
  48  Desk            0.244          0.004          -2.356         0              0              0
  49  Chair           -0.626         1.439          -2.199         0              171.006        0
  50  Chair           0.220          1.466          -2.214         0              188.269        0
  51  Shelf           -0.978         1.387          -2.479         0              0              0
  52  Drawer          -1.389         0.197          -2.261         0              0              0
  53  Drawer          -1.389         0.480          -2.261         0              0              0
  54  Drawer          -1.389         0.731          -2.261         0              0              0
  55  Desk            -0.973         1.162          -2.351         0              0              0
  56  NorthWall
  57  EastWall
  58  SouthWall
  59  WestWall

Plan:
STEP 1: Turn right and walk slightly forward, then turn left and walk towards the lamp on the desk. | STEP 2: Pick up the pencil on the desk near the lamp. | STEP 3: Turn right and walk to the center of the desk on the right. | STEP 4: Put the pencil on the front of the desk, in front of the remote control. | END