Task: place two pencils on desk

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.75           0.901          -1.5           0              270            0
   1  Vase            1.447          1.179          -2.298         0              0              0              33
   2  Vase            0.766          0.731          -2.588         0              180            0              45
   3  CD              0.536          0.730          -2.530         0              180            0              45
   4  CellPhone       -1.255         0.417          -2.222         0              0              0              51
   5  CellPhone       -1.255         0.417          -1.733         0              0              0              51
   6  Pen             -1.780         0.604          -0.533         0              0              0              52
   7  Pencil          0.766          0.734          -2.705         0              180            0              45
   8  CreditCard      0.450          0.113          -2.606         0              0              0              46
   9  CreditCard      0.076          0.728          -2.530         0              180            0              45
  10  KeyChain        -1.819         0.365          -1.259         0              90             0              55
  11  KeyChain        -1.582         0.599          -0.250         0              90             0              52
  12  Book            -1.024         0.418          -1.610         0              0              0              51
  13  Laptop          -0.564         0.415          -1.855         0              0              0              51
  14  Box             1.996          0.316          -1.042         0              254.839        0
  15  Book            0.339          0.723          -2.65          0              165.000        0              45
  16  Pillow          -1.548         0.457          -1.831         0              90             0              51
  17  CellPhone       -0.794         0.417          -1.610         0              0              0              51
  18  Vase            -1.582         0.599          -0.392         0              0              0              52
  19  BaseballBat     -1.629         0.649          0.416          14.491         0              0
  20  CreditCard      0.191          0.728          -2.822         0              180            0              45
  21  TennisRacket    2.244          0.279          -1.901         335.402        251.974        201.714
  22  KeyChain        -1.819         0.070          -1.076         0              180            0              56
  23  AlarmClock      -1.853         0.501          -1.174         0              285.157        0              52
  24  Cloth           2.176          0.0            -0.571         0              335.474        0
  25  Laptop          -1.764         0.591          -0.112         0              113.510        0              52
  26  CD              1.851          0.054          -2.324         0              0              0              63
  27  CD              1.723          0.355          -2.324         0              0              0              60
  28  Pen             1.257          0.060          -2.282         0              0              0              61
  29  Pencil          0.076          0.732          -2.764         0              180            0              45
  30  Mug             1.851          0.353          -2.282         0              0              0              60
  31  Shelf           1.311          0.969          -2.298         0              0              0
  32  Shelf           1.843          0.969          -2.298         0              0              0
  33  Shelf           1.311          1.171          -2.298         0              0              0
  34  Shelf           1.843          1.171          -2.298         0              0              0
  35  Shelf           1.311          1.368          -2.298         0              0              0
  36  Shelf           1.843          1.570          -2.298         0              0              0
  37  Shelf           1.843          1.368          -2.298         0              0              0
  38  Shelf           1.311          1.570          -2.298         0              0              0
  39  DeskLamp        -1.848         0.592          -0.786         0              90             0
  40  GarbageCan      2.197          -0.007         0.298          0              232.025        0
  41  LightSwitch     -0.638         1.149          0.499          0              180            0
  42  Poster          0.001          1.495          -2.642         90             90             0
  43  Mirror          -1.072         1.469          0.497          0              0              0
  44  Window          0.435          1.398          -2.855         90             0              0
  45  SideTable       0.435          0.036          -2.647         0              0              0
  46  Drawer          0.433          0.203          -2.445         0              0              0
  47  Drawer          0.433          0.505          -2.445         0              0              0
  48  Dumbbell        -1.656         0.602          -0.534         0              90             0
  49  Blinds          0.449          2.164          -2.845         0              0              0
  50  GarbageBag      1.730          0.318          0.222          270            90             83.412
  51  Bed             -1.047         -0.000         -1.851         0              270            0
  52  Desk            -1.710         0.000          -0.374         0              90             0
  53  Drawer          -1.790         0.245          -1.144         0              90             0
  54  SideTable       -1.824         0.000          -1.144         0              90             0
  55  Drawer          -1.790         0.392          -1.144         0              90             0
  56  Drawer          -1.790         0.097          -1.144         0              90             0
  57  Chair           -1.453         0.005          -0.311         0              286.095        0
  58  Shelf           1.591          0.606          -2.305         0              0              0
  59  ShelvingUnit    1.588          0.004          -2.326         0              0              0
  60  Shelf           1.854          0.453          -2.298         0              0              0
  61  Shelf           1.321          0.155          -2.296         0              0              0
  62  Shelf           1.323          0.456          -2.300         0              0              0
  63  Shelf           1.852          0.152          -2.294         0              0              0
  64  NorthWall
  65  EastWall
  66  SouthWall
  67  WestWall

Plan:
STEP 1: go to the dresser to the left with yellow object and CD | STEP 2: pick up pencil from behind yellow object | STEP 3: turn around, go to desk to the left | STEP 4: place pencil on yellow object on desk | STEP 5: turn around, go to dresser to the right | STEP 6: pick up pencil in between two red credit cards on dresser | STEP 7: turn around, go to desk to the left | STEP 8: place pencil to the left of yellow object on desk | END