Task: Move the pencil to the desk across the room.

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          1.75           0              270            0
   1  CD              2.170          0.094          -0.679         0              0              0              31
   2  CD              -0.320         0.924          -0.818         0              0              0              37
   3  Pencil          2.285          0.846          -0.746         0              0              0              32
   4  Pencil          2.253          0.052          2.579          0              0              0              28
   5  KeyChain        -0.245         0.376          -0.561         0              0              0              35
   6  KeyChain        -0.297         0.376          -0.377         0              0              0              35
   7  Book            2.285          0.844          -0.090         0              0              0              32
   8  Book            -0.470         0.551          2.433          0              0              0              22
   9  Laptop          0.333          0.548          1.263          0              0              0              22
  10  Box             2.15           0.14           0.494          0              12.243         0
  11  Book            -0.509         0.926          -0.604         0              0              0              37
  12  BasketBall      -0.235         0.120          0.166          0              0              0
  13  Pen             -0.320         0.930          -0.604         0              0              0              37
  14  Pillow          -0.025         0.561          2.458          0              0              0              22
  15  Pencil          2.190          0.846          -0.352         0              0              0              32
  16  CellPhone       -0.351         0.669          -0.376         0              0              0              38
  17  KeyChain        2.120          0.461          -0.679         0              90             0              30
  18  CreditCard      2.195          0.094          -0.190         0              0              0              31
  19  AlarmClock      -0.509         0.925          -1.032         0              0              0              37
  20  CD              -0.131         0.924          -1.245         0              0              0              37
  21  Laptop          -0.509         0.923          -1.459         0              0              0              37
  22  Bed             0.009          -0.004         1.577          0              0              0
  23  DeskLamp        -0.669         0.923          -0.062         0              90             0
  24  Painting        -0.787         1.809          -0.215         90             270            0
  25  Painting        -0.787         1.809          1.023          90             270            0
  26  Mirror          2.118          1.277          2.749          0              0              0
  27  LightSwitch     0.726          1.200          2.75           0              180            0
  28  GarbageCan      2.257          -0.008         2.603          353.970        0              0
  29  Window          0.665          1.356          -1.911         90             0              0
  30  Drawer          2.119          0.576          -0.491         4.458          270            0
  31  Drawer          2.147          0.213          -0.491         4.458          270            0
  32  SideTable       2.226          0.013          -0.492         4.458          270            0
  33  Chair           0.170          0.011          -1.214         0              261.719        0
  34  Blinds          0.695          1.983          -1.867         0              0              0
  35  Drawer          -0.079         0.513          -0.394         0              90             0
  36  Drawer          -0.079         0.226          -0.394         0              90             0
  37  Desk            -0.391         0.001          -0.811         0              90             0
  38  Drawer          -0.079         0.762          -0.394         0              90             0
  39  NorthWall
  40  EastWall
  41  SouthWall
  42  WestWall

Plan:
STEP 1: Turn left and walk across the room, turn left again and face the filing cabinet. | STEP 2: Pick up the pencil on the right side of the cabinet. | STEP 3: Turn around, cross the room and stand behind the red office chair. | STEP 4: Put the pencil on top of the CD on the desk closest to the chair. | STEP 5: Turn around and walk back to the filing cabinet. | STEP 6: Pick up the remaining pencil from the top of the cabinet. | STEP 7: Turn around and walk back to the desk, standing behind the red chair. | STEP 8: Place the pencil on the desk to the left of the CD with the first pencil on it | END