Task: move a pencil from a table to 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          0.900          1.25           0              270            0
   1  Bowl            -0.450         0.838          -2.038         0              0              0              27
   2  CD              1.588          0.039          0.541          0              0              0              40
   3  CellPhone       -1.283         1.461          -1.256         0              0              0              28
   4  CellPhone       -0.911         0.794          -0.600         0              0              0              44
   5  Pencil          0.227          0.684          1.348          0              0              0              36
   6  Pencil          -1.283         1.826          -1.344         0              0              0              31
   7  CreditCard      -1.335         1.822          -0.603         0              0              0              30
   8  KeyChain        -0.791         0.793          -1.298         0              53.910         0              44
   9  KeyChain        0.368          0.674          -1.635         0              0              0              43
  10  Book            0.809          0.578          -0.891         0              0              0              45
  11  Pencil          0.368          0.680          -1.781         0              0              0              43
  12  Laptop          -1.005         0.780          -1.477         0              31.363         0              44
  13  Pen             -1.112         0.798          -1.696         0              0              0              44
  14  TennisRacket    -1.226         0.301          -0.069         15.000         180            180
  15  TeddyBear       1.629          0.557          -1.064         0              118.287        0              45
  16  Pillow          1.215          0.641          -1.663         0              0              0              23
  17  CellPhone       -1.230         1.824          -1.168         0              0              0              31
  18  KeyChain        -1.265         0.793          -1.671         0              0              0              44
  19  AlarmClock      -0.720         0.838          -2.038         0              0              0              27
  20  CreditCard      -0.376         0.793          -1.760         0              0              0              44
  21  CD              0.072          0.680          1.303          0              0              0              36
  22  Bowl            -1.265         0.794          -1.243         0              0              0              44
  23  Bed             1.242          -0.001         -0.881         0              180            0
  24  LightSwitch     0.010          1.315          1.499          0              180            0
  25  GarbageCan      0.840          0.007          1.337          0              180            2.168
  26  HousePlant      -0.083         0.828          -2.045         0              0              0
  27  Shelf           -0.469         0.828          -2.038         0              0              0
  28  Shelf           -1.286         1.451          -1.343         0              0              0
  29  Shelf           -1.286         1.451          -0.602         0              0              0
  30  Shelf           -1.286         1.814          -0.602         0              0              0
  31  Shelf           -1.286         1.814          -1.343         0              0              0
  32  Painting        1.111          1.628          -1.865         90             0              0
  33  DeskLamp        0.473          0.669          1.350          0              0              0
  34  Mirror          -1.383         1.565          0.512          0              270            0
  35  Window          -0.472         1.396          -2.252         90             0              0
  36  SideTable       0.304          -0.001         1.225          0              180            0
  37  Drawer          0.304          0.165          1.159          0              180            0
  38  Drawer          0.304          0.457          1.159          0              180            0
  39  Blinds          -0.453         2.156          -2.242         0              0              0
  40  Safe            1.623          5.960          0.448          0              270            0
  41  Chair           -0.683         0.000          -1.326         0              217.223        0
  42  Drawer          0.416          0.532          -1.553         0              0              0
  43  SideTable       0.413          0.000          -1.684         0              0              0
  44  Desk            -0.788         0.000          -1.032         0              90             0
  45
  46  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: turn left, walk forward to desk, turn left, take one step, turn right, take one step, turn left to face the small table | STEP 2: pick up the pencil that is on the small table | STEP 3: turn left, take a few steps, turn left, take a step towards the desk | STEP 4: put the pencil on the desk | END