Task: get two pencils from the desk and set them on the night stand

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.900          -0.25          0              90             0
   1  Mug             -1.322         0.677          -2.553         0              0              0              39
   2  Mug             -0.431         0.616          0.833          0              180            0              38
   3  CellPhone       -1.026         0.680          -2.553         0              0              0              39
   4  Pencil          -0.121         0.625          0.599          0              180            0              38
   5  Pencil          -0.431         0.625          0.599          0              180            0              38
   6  Pencil          0.188          0.623          0.910          0              180            0              38
   7  KeyChain        0.033          0.620          0.677          0              180            0              38
   8  Book            0.430          0.555          -0.988         0              0              0              26
   9  AlarmClock      -0.121         0.620          0.988          0              180            0              38
  10  AlarmClock      -0.431         0.621          0.988          0              180            0              38
  11  Laptop          0.247          0.554          -1.434         0              0              0              26
  12  Laptop          -0.300         0.554          -1.657         0              0              0              26
  13  Box             2.453          0.222          -0.041         0              0              0
  14  Book            -0.586         0.619          0.833          0              270            0              38
  15  KeyChain        0.033          0.620          0.832          0              180            0              38
  16  Pillow          0.192          0.607          -2.307         0              0              0              26
  17  BaseballBat     0.419          0.666          1.044          10.360         0              0
  18  Pencil          -0.586         0.625          0.599          0              180            0              38
  19  CellPhone       0.430          0.557          -1.657         0              0              0              26
  20  CreditCard      1.055          0.679          -2.374         0              0              0              40
  21  Pen             -0.741         0.625          0.755          0              180            0              38
  22  Laptop          -0.300         0.554          -1.211         0              0              0              26
  23  AlarmClock      -1.236         0.673          -2.425         0              29.999         0              40
  24  CD              -1.026         0.675          -2.553         0              0              0              39
  25  Mug             -0.586         0.618          0.677          0              180            0              38
  26  Bed             -0.118         -0.001         -1.699         0              180            0
  27  Mirror          2.644          1.347          0.384          0              90             0
  28  GarbageCan      2.467          -0.029         0.936          0              271.107        0
  29  LightSwitch     0.333          1.256          1.149          0              180            0
  30  DeskLamp        0.915          0.670          -2.435         0              0              0
  31  Painting        0.003          1.562          -2.687         90             180            0
  32  Window          -1.559         1.414          -1.356         90             270            0
  33  Window          -1.559         1.414          -0.057         90             270            0
  34  Shelf           -0.276         0.351          0.832          0              0              0
  35  Shelf           -0.276         0.099          0.832          0              0              0
  36  Blinds          -1.462         2.157          -1.343         0              90             0
  37  Blinds          -1.462         2.157          -0.046         0              90             0
  38  Desk            -0.276         -0.001         0.833          0              0              0
  39  SideTable       -1.204         0.002          -2.456         0              0              0
  40  SideTable       0.948          0.002          -2.456         0              0              0
  41  Drawer          0.948          0.166          -2.389         0              0              0
  42  Drawer          -1.204         0.166          -2.389         0              0              0
  43  Drawer          0.948          0.458          -2.389         0              0              0
  44  Drawer          -1.204         0.458          -2.389         0              0              0
  45
  46  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: go to the desk | STEP 2: pick up the pencil from the desk | STEP 3: take the pencil to the night stand | STEP 4: set the pencil on the stand | STEP 5: go back to the desk | STEP 6: pick up another pencil from the desk | STEP 7: take the pencil to the night stand | STEP 8: set the pencil on the stand | END