Task: Move two pencils to 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           0.900          -0.5           0              0              0
   1  Mug             0.741          0.699          -1.423         0              180            0              45
   2  Mug             1.479          0.699          -1.521         0              180            0              45
   3  CellPhone       0.987          0.704          -1.521         0              180            0              45
   4  Pen             0.741          0.709          -1.326         0              180            0              45
   5  Pen             1.233          0.707          -1.326         0              180            0              45
   6  Pencil          1.449          0.492          -0.324         0              270            0              38
   7  Book            -2.217         0.527          -0.326         0              0              0              28
   8  KeyChain        1.524          0.709          -0.623         0              0              0              37
   9  KeyChain        1.510          1.412          0.393          0              270            0              37
  10  AlarmClock      1.479          0.702          -1.326         0              180            0              45
  11  Box             1.537          1.652          0.692          0              0              0              31
  12  Book            1.600          0.708          -0.465         0              0              0              37
  13  AlarmClock      0.494          0.704          -1.423         0              180            0              45
  14  CellPhone       1.541          0.491          -0.534         0              270            0              38
  15  TissueBox       0.987          0.703          -1.716         0              180            0              45
  16  TeddyBear       -2.204         0.500          0.181          355.000        297.467        9.162          28
  17  CreditCard      1.603          0.488          -0.254         0              270            0              38
  18  KeyChain        1.638          0.709          -0.623         0              0              0              37
  19  BaseballBat     -2.202         0.04           -1.343         0              45             90             Floor|+00.00|
  20  TennisRacket    -2.254         0.324          -1.806         15.000         180            180            Floor|+00.00|
  21  Pillow          -1.777         0.598          -0.570         0              0              0              28
  22  Laptop          0.037          0.694          -1.459         0              348.828        0              45
  23  CD              0.248          0.701          -1.716         0              180            0              45
  24  Pen             0.494          0.709          -1.716         0              180            0              45
  25  Pencil          1.591          1.415          0.136          0              270            0              37
  26  Mug             1.479          0.699          -1.716         0              180            0              45
  27  Mirror          -0.689         1.495          0.954          0              0              0
  28  Bed             -1.742         0.000          -0.071         0              0              0
  29  Chair           0.891          -0.001         -1.251         0              175.104        0
  30  GarbageCan      -0.606         -0.021         0.799          0              0              0
  31  ShelvingUnit    1.550          1.402          0.374          0              270            0
  32  Painting        -2.401         1.700          -0.859         90             90             0
  33  DeskLamp        1.291          0.699          -1.717         0              0              0
  34  LightSwitch     0.231          1.287          0.954          0              180            0
  35  HousePlant      1.488          1.394          0.035          0              122.291        0
  36  Window          0.046          1.559          -2.079         90             180            0
  37  SideTable       1.561          0.000          -0.465         0              270            0
  38  Shelf           1.541          0.493          -0.475         0              270            0
  39  Blinds          0.007          2.152          -2.014         0              0              0
  40  Drawer          -0.156         0.547          -1.430         0              0              0
  41  Drawer          0.270          0.159          -1.430         0              0              0
  42  Drawer          -0.156         0.159          -1.430         0              0              0
  43  Drawer          0.270          0.353          -1.430         0              0              0
  44  Drawer          -0.156         0.353          -1.430         0              0              0
  45  Desk            0.634          0.002          -1.557         0              0              0
  46  Drawer          0.270          0.547          -1.430         0              0              0
  47  Shelf           1.406          0.571          -1.514         0              0              0
  48  Shelf           1.406          0.183          -1.514         0              0              0
  49  Shelf           1.584          0.183          -1.514         0              0              0
  50  Shelf           1.406          0.377          -1.514         0              0              0
  51  Shelf           1.584          0.377          -1.514         0              0              0
  52  Shelf           1.584          0.571          -1.514         0              0              0
  53  NorthWall
  54  EastWall
  55  SouthWall
  56  WestWall

Plan:
STEP 1: Turn right, go to table to right of bookcase | STEP 2: pick up pencil from lower shelf | STEP 3: Turn right, go to desk with chair | STEP 4: place pencil between other two pencils on desk | STEP 5: Turn left, go to top shelf of bookcase | STEP 6: Grab pencil between plant and keys on top of bookcase | STEP 7: Turn right, go to desk with chair | STEP 8: Place pencil perpendicular with eraser touching center pencil | END