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           -1.0           0.900          0.5            0              90             0
   1  CD              1.639          0.082          -0.816         0              90             0              32
   2  CD              0.154          0.143          -2.196         0              90             0              28
   3  CellPhone       -1.165         1.779          -2.041         0              0              0              38
   4  Pen             -1.626         0.843          -2.077         0              0              0              38
   5  Pen             1.536          0.686          -1.142         0              270            0              33
   6  CreditCard      1.639          0.082          -0.930         0              90             0              32
   7  KeyChain        -0.705         1.777          -2.161         0              0              0              38
   8  AlarmClock      -0.934         1.347          -2.222         0              0              0              41
   9  Pillow          0.584          0.739          0.238          0              0              0              25
  10  Book            1.152          0.646          0.598          0              0              0              25
  11  Box             -0.424         2.065          -2.027         0              352.503        0              38
  12  Pillow          1.152          0.739          -0.120         0              0              0              25
  13  AlarmClock      -0.244         0.837          -2.185         0              0              0              38
  14  BasketBall      -0.337         0.120          1.031          0              0              0              Floor|-00.16|
  15  BaseballBat     -1.602         0.022          0.356          90             8.736          0              Floor|-00.16|
  16  Pen             1.671          0.686          -0.987         0              270            0              33
  17  CellPhone       1.436          0.647          0.418          0              0              0              25
  18  TennisRacket    -1.667         0.0            0.818          90             29.999         0              Floor|-00.16|
  19  Laptop          0.584          0.643          -0.299         0              0              0              25
  20  Pencil          1.626          0.684          -1.142         0              270            0              33
  21  KeyChain        -0.868         1.347          -1.976         0              0              0              41
  22  CreditCard      1.592          0.374          -0.930         0              90             0              31
  23  CD              -0.935         1.777          -2.161         0              0              0              38
  24  Mirror          0.883          1.582          -2.399         0              180            0
  25  Bed             1.176          -0.002         0.238          0              90             0
  26  LightSwitch     1.899          1.297          -1.302         0              270            0
  27  Poster          -1.927         1.411          -1.455         90             90             0
  28  GarbageCan      0.128          -0.030         -2.146         0              90             0
  29  Window          -2.028         1.388          -0.270         90             270            0
  30  DeskLamp        -1.673         1.774          -2.190         0              0              0
  31  Drawer          1.624          0.453          -0.987         0              270            0
  32  Drawer          1.624          0.163          -0.987         0              270            0
  33  SideTable       1.691          0.002          -0.988         0              270            0
  34  Chair           -1.089         0.009          -1.570         0              166.824        0
  35  Blinds          -1.949         2.158          -0.252         0              90             0
  36  Cabinet         -0.241         1.534          -2.101         0              0              0
  37  Cabinet         -1.301         1.534          -2.101         0              0              0
  38  Desk            -0.962         0.003          -1.942         0              0              0
  39  Cabinet         -1.683         1.534          -2.101         0              0              0
  40  Cabinet         -0.623         1.534          -2.101         0              0              0
  41  Shelf           -0.962         1.534          -2.101         0              0              0
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: Turn right and walk to the desk, then make a left and walk to the black night stand to the right of the bed | STEP 2: Pick up the yellow pencil that is sitting on the black night stand | STEP 3: Turn right and walk to the wall then right again and walk to the side of the desk, the side where the black trash can is sitting | STEP 4: Place the pencil on the desk | END