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           0.25           0.900          -0.25          0              90             0
   1  CD              2.145          0.461          -0.581         0              0              0              36
   2  CD              2.170          0.096          -0.288         0              0              0              37
   3  CellPhone       -0.698         0.926          -1.245         0              0              0              43
   4  CellPhone       -0.470         0.552          1.848          0              0              0              28
   5  Pen             -0.245         0.382          -0.193         0              0              0              42
   6  Pen             2.145          0.467          -0.777         0              270            0              36
   7  Pencil          2.225          0.053          2.579          0              0              0              34
   8  Pencil          2.143          0.846          -0.090         0              0              0              38
   9  CreditCard      2.095          0.842          -0.615         0              0              0              38
  10  KeyChain        2.190          0.843          -0.352         0              0              0              38
  11  KeyChain        -0.509         0.925          -1.459         0              0              0              43
  12  Book            -0.402         0.377          -0.561         0              0              0              41
  13  AlarmClock      -0.414         0.925          -1.459         0              0              0              43
  14  AlarmClock      2.238          0.843          -0.090         0              0              0              38
  15  Laptop          0.172          0.548          1.555          0              0              0              28
  16  Box             2.15           0.14           0.494          0              12.243         0
  17  Book            -0.414         0.926          -0.177         0              0              0              43
  18  BasketBall      -0.235         0.120          0.166          0              0              0
  19  Pen             2.190          0.848          -0.877         0              0              0              38
  20  Pillow          -0.025         0.561          2.458          0              0              0              28
  21  Pencil          2.285          0.846          -0.484         0              0              0              38
  22  CellPhone       2.095          0.844          -0.746         0              0              0              38
  23  KeyChain        2.333          0.843          -0.221         0              0              0              38
  24  CreditCard      -0.142         0.667          -0.099         0              0              0              44
  25  AlarmClock      -0.320         0.925          -1.245         0              0              0              43
  26  CD              2.285          0.842          -0.746         0              0              0              36
  27  Laptop          -0.428         0.919          -0.901         0              20.959         0              43
  28  Bed             0.009          -0.004         1.577          0              0              0
  29  DeskLamp        -0.669         0.923          -0.062         0              90             0
  30  Painting        -0.787         1.809          -0.215         90             270            0
  31  Painting        -0.787         1.809          1.023          90             270            0
  32  Mirror          2.118          1.277          2.749          0              0              0
  33  LightSwitch     0.726          1.200          2.75           0              180            0
  34  GarbageCan      2.257          -0.008         2.603          353.970        0              0
  35  Window          0.665          1.356          -1.911         90             0              0
  36  Drawer          2.119          0.576          -0.491         4.458          270            0
  37  Drawer          2.147          0.213          -0.491         4.458          270            0
  38  SideTable       2.226          0.013          -0.492         4.458          270            0
  39  Chair           0.170          0.011          -1.214         0              261.719        0
  40  Blinds          0.695          1.983          -1.867         0              0              0
  41  Drawer          -0.079         0.513          -0.394         0              90             0
  42  Drawer          -0.079         0.226          -0.394         0              90             0
  43  Desk            -0.391         0.001          -0.811         0              90             0
  44  Drawer          -0.079         0.762          -0.394         0              90             0
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: Walk over to the green dresser. | STEP 2: Pick up the yellow pencil on the left side of the dresser. | STEP 3: Turn and go past the window to the desk. | STEP 4: Set the pencil on the front edge of the desk. | STEP 5: Turn and go back to the green dresser. | STEP 6: Pick up the yellow pencil to the left of the disk. | STEP 7: Turn and go past the window to the desk. | STEP 8: Set the pencil down on the desk in front of the clock on the left. | END