Task: Put a pencil on the large 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          -0.5           0              90             0
   1  CellPhone       -1.594         0.861          -2.561         0              0              0              59
   2  CellPhone       -1.493         0.087          -2.325         0              0              0              56
   3  Pen             -1.393         0.867          -2.436         0              0              0              59
   4  Pen             -1.192         0.867          -2.248         0              0              0              59
   5  Pencil          0.459          0.816          -2.304         0              0              0              52
   6  CreditCard      1.467          0.823          -1.570         0              270            0              50
   7  KeyChain        1.494          0.824          -1.260         0              270            0              50
   8  Pillow          -0.046         0.902          1.335          0              0              0              30
   9  Pillow          0.528          0.902          1.012          0              0              0              30
  10  Laptop          -0.621         0.772          1.496          0              0              0              30
  11  AlarmClock      0.355          0.812          -2.372         0              0              0              52
  12  AlarmClock      0.355          0.812          -2.507         0              0              0              52
  13  Book            -1.232         0.652          -2.325         0              0              0              58
  14  Cloth           1.303          0.0            -0.696         0              303.212        0
  15  Cloth           1.273          0.0            -0.969         0              0              0
  16  CellPhone       -1.232         0.087          -2.287         0              0              0              56
  17  Pencil          -0.061         0.816          -2.304         0              0              0              52
  18  Laptop          -0.998         0.855          -2.401         0              13.355         0              59
  19  AlarmClock      -1.594         0.862          -2.373         0              0              0              59
  20  CreditCard      -1.232         0.372          -2.363         0              0              0              57
  21  KeyChain        1.550          0.824          -1.467         0              0              0              50
  22  TennisRacket    -1.704         0.345          1.743          345.000        90             180
  23  RemoteControl   -0.386         0.863          -2.561         0              0              0              59
  24  Pillow          1.073          0.876          1.326          0              262.063        0              30
  25  CD              1.521          0.817          -1.727         0              0              0              50
  26  CD              -1.667         0.371          -2.401         0              0              0              57
  27  CD              0.563          0.811          -2.507         0              0              0              52
  28  Pen             -1.493         0.377          -2.325         0              0              0              57
  29  Bowl            -0.386         0.863          -2.436         0              0              0              59
  30  Bed             0.270          0.001          1.331          0              90             0
  31  LaundryHamper   -1.329         0.001          1.829          0              180            0
  32  Television      -1.664         1.479          -0.912         0              90             0
  33  DeskLamp        0.049          0.815          -2.481         0              0              0
  34  LightSwitch     -1.799         1.213          0.680          0              90             0
  35  Painting        0.492          1.684          -2.629         90             0              0
  36  Poster          -1.799         1.690          -1.491         90             270            0
  37  GarbageCan      1.306          -0.001         -2.451         0              317.376        0
  38  Mirror          1.5            1.361          -0.542         0              90             0
  39  Window          1.721          1.365          -1.597         90             270            0
  40  Shelf           -1.605         0.435          -0.686         0              90             0
  41  Shelf           -1.613         1.154          -0.904         0              90             0
  42  ShelvingUnit    -1.611         0.005          -0.904         0              90             0
  43  Shelf           -1.605         0.719          -1.122         0              90             0
  44  Shelf           -1.605         0.435          -1.122         0              90             0
  45  Shelf           -1.605         1.006          -1.122         0              90             0
  46  Shelf           -1.605         0.148          -0.686         0              90             0
  47  Shelf           -1.605         0.149          -1.122         0              90             0
  48  Shelf           -1.605         1.006          -0.686         0              90             0
  49  Shelf           -1.605         0.719          -0.686         0              90             0
  50  SideTable       1.484          0.001          -1.481         0              270            0
  51  Blinds          1.699          2.096          -1.575         0              270            0
  52  Desk            0.244          0.004          -2.356         0              0              0
  53  Chair           -0.626         1.439          -2.199         0              171.006        0
  54  Chair           0.220          1.466          -2.214         0              188.269        0
  55  Shelf           -0.978         1.387          -2.479         0              0              0
  56  Drawer          -1.389         0.197          -2.261         0              0              0
  57  Drawer          -1.389         0.480          -2.261         0              0              0
  58  Drawer          -1.389         0.731          -2.261         0              0              0
  59  Desk            -0.973         1.162          -2.351         0              0              0
  60  NorthWall
  61  EastWall
  62  SouthWall
  63  WestWall

Plan:
STEP 1: Turn to your right and go across the room to the small desk across from you.  | STEP 2: Pick up the pencil in front of the lamp, on the small desk.  | STEP 3: Move over to the far, left end of the large desk.  | STEP 4: Place the pencil on the large desk, to the right of the laptop.  | END