Task: Place a pencil on a desk

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.900          1.25           0              270            0
   1  CreditCard      -1.335         0.793          -1.243         0              0              0              37
   2  CreditCard      0.414          0.676          -1.635         0              0              0              36
   3  Book            1.243          0.578          -0.891         0              0              0              38
   4  Pencil          -0.180         0.840          -1.968         0              0              0              20
   5  Laptop          -1.005         0.780          -1.477         0              31.363         0              37
   6  Pen             -1.123         0.798          -0.600         0              0              0              37
   7  TennisRacket    -1.226         0.301          -0.069         15.000         180            180
   8  TeddyBear       1.629          0.557          -1.064         0              118.287        0              38
   9  Pillow          1.215          0.641          -1.663         0              0              0              16
  10  CellPhone       1.640          0.041          0.381          0              0              0              33
  11  KeyChain        -1.194         0.793          -0.600         0              0              0              37
  12  AlarmClock      -0.585         0.838          -2.107         0              0              0              20
  13  CreditCard      -0.836         0.793          -1.331         0              53.910         0              37
  14  CD              1.588          0.039          0.541          0              0              0              33
  15  Bowl            0.227          0.682          1.303          0              0              0              29
  16  Bed             1.242          -0.001         -0.881         0              180            0
  17  LightSwitch     0.010          1.315          1.499          0              180            0
  18  GarbageCan      0.840          0.007          1.337          0              180            2.168
  19  HousePlant      -0.083         0.828          -2.045         0              0              0
  20  Shelf           -0.469         0.828          -2.038         0              0              0
  21  Shelf           -1.286         1.451          -1.343         0              0              0
  22  Shelf           -1.286         1.451          -0.602         0              0              0
  23  Shelf           -1.286         1.814          -0.602         0              0              0
  24  Shelf           -1.286         1.814          -1.343         0              0              0
  25  Painting        1.111          1.628          -1.865         90             0              0
  26  DeskLamp        0.473          0.669          1.350          0              0              0
  27  Mirror          -1.383         1.565          0.512          0              270            0
  28  Window          -0.472         1.396          -2.252         90             0              0
  29  SideTable       0.304          -0.001         1.225          0              180            0
  30  Drawer          0.304          0.165          1.159          0              180            0
  31  Drawer          0.304          0.457          1.159          0              180            0
  32  Blinds          -0.453         2.156          -2.242         0              0              0
  33  Safe            1.623          5.960          0.448          0              270            0
  34  Chair           -0.683         0.000          -1.326         0              217.223        0
  35  Drawer          0.416          0.532          -1.553         0              0              0
  36  SideTable       0.413          0.000          -1.684         0              0              0
  37  Desk            -0.788         0.000          -1.032         0              90             0
  38
  39  NorthWall
  40  EastWall
  41  SouthWall
  42  WestWall

Plan:
STEP 1: Turn around and head forward, at the night stand take a right and cross the room to the potted plant sitting in the window sill  | STEP 2: Pick up the pencil that is sitting on the window sill in front of the potted plant | STEP 3: Turn around and take a step, then turn left and walk to the desk | STEP 4: Place the pencil on the desk to the left of the sunlight marks | END