Task: Put two pencils on 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           -0.75          0.900          0.0            0              90             0
   1  Mug             0.741          0.699          -1.716         0              180            0              53
   2  Mug             1.550          1.409          0.393          0              270            0              45
   3  TissueBox       1.233          0.703          -1.326         0              180            0              53
   4  TissueBox       0.987          0.703          -1.423         0              180            0              53
   5  CD              1.591          1.411          0.264          0              270            0              45
   6  CellPhone       0.002          0.704          -1.619         0              180            0              53
   7  Pen             -0.074         0.086          -1.372         0              180            0              49
   8  Pen             1.511          0.493          -0.534         0              90             0              46
   9  Pencil          -0.028         0.501          -1.532         0              180            0              48
  10  Pencil          1.449          0.492          -0.324         0              270            0              46
  11  Pencil          0.064          0.292          -1.372         0              180            0              51
  12  CreditCard      1.480          0.488          -0.254         0              270            0              46
  13  CreditCard      0.248          0.703          -1.814         0              180            0              53
  14  Book            -2.217         0.527          -0.814         0              0              0              36
  15  Book            0.002          0.701          -1.423         0              180            0              53
  16  Laptop          -1.777         0.525          -0.082         0              0              0              36
  17  AlarmClock      1.511          0.489          -0.464         0              270            0              46
  18  AlarmClock      1.233          0.702          -1.521         0              180            0              53
  19  Box             1.537          1.652          0.692          0              0              0              39
  20  Book            1.562          0.708          -0.623         0              0              0              45
  21  AlarmClock      1.562          0.709          -0.226         0              0              0              45
  22  CellPhone       1.562          0.711          -0.385         0              0              0              45
  23  TissueBox       1.479          0.703          -1.326         0              180            0              53
  24  TeddyBear       -2.204         0.500          0.181          355.000        297.467        9.162          36
  25  CreditCard      1.671          1.411          0.007          0              270            0              45
  26  KeyChain        0.064          0.082          -1.639         0              90             0              49
  27  BaseballBat     -2.202         0.04           -1.343         0              45             90             Floor|+00.00|
  28  TennisRacket    -2.254         0.324          -1.806         15.000         180            180            Floor|+00.00|
  29  Pillow          -1.630         0.598          0.648          0              0              0              36
  30  Laptop          -1.630         0.525          -0.814         0              0              0              36
  31  CD              0.433          0.497          -1.425         0              180            0              54
  32  Pen             0.494          0.707          -1.619         0              180            0              53
  33  Pencil          1.469          1.415          0.393          0              270            0              45
  34  Mug             0.987          0.699          -1.716         0              180            0              53
  35  Mirror          -0.689         1.495          0.954          0              0              0
  36  Bed             -1.742         0.000          -0.071         0              0              0
  37  Chair           0.891          -0.001         -1.251         0              175.104        0
  38  GarbageCan      -0.606         -0.021         0.799          0              0              0
  39  ShelvingUnit    1.550          1.402          0.374          0              270            0
  40  Painting        -2.401         1.700          -0.859         90             90             0
  41  DeskLamp        1.291          0.699          -1.717         0              0              0
  42  LightSwitch     0.231          1.287          0.954          0              180            0
  43  HousePlant      1.488          1.394          0.035          0              122.291        0
  44  Window          0.046          1.559          -2.079         90             180            0
  45  SideTable       1.561          0.000          -0.465         0              270            0
  46  Shelf           1.541          0.493          -0.475         0              270            0
  47  Blinds          0.007          2.152          -2.014         0              0              0
  48  Drawer          -0.156         0.547          -1.430         0              0              0
  49  Drawer          0.270          0.159          -1.430         0              0              0
  50  Drawer          -0.156         0.159          -1.430         0              0              0
  51  Drawer          0.270          0.353          -1.430         0              0              0
  52  Drawer          -0.156         0.353          -1.430         0              0              0
  53  Desk            0.634          0.002          -1.557         0              0              0
  54  Drawer          0.270          0.547          -1.430         0              0              0
  55  Shelf           1.406          0.571          -1.514         0              0              0
  56  Shelf           1.406          0.183          -1.514         0              0              0
  57  Shelf           1.584          0.183          -1.514         0              0              0
  58  Shelf           1.406          0.377          -1.514         0              0              0
  59  Shelf           1.584          0.377          -1.514         0              0              0
  60  Shelf           1.584          0.571          -1.514         0              0              0
  61  NorthWall
  62  EastWall
  63  SouthWall
  64  WestWall

Plan:
STEP 1: Walk over to the bookshelf on the opposite side of the room. | STEP 2: Pick up a pencil from the small stand to the right of the bookshelf. | STEP 3: Turn right and face the desk. | STEP 4: Put the pencil on the desk in front of the computer chair. | STEP 5: Turn around and walk to the door, then turn right and face the bookshelf. | STEP 6: Take the pencil from the top of the bookshelf. | STEP 7: Turn right and walk to the desk. | STEP 8: Put the pencil on top of the other pencil already on the desk at a ninety degree angle,  leaning against the box of tissues. | END