Task: Retrieve a pencil and put it on the nightstand near the window.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.25           0.901          1.25           0              90             0
   1  CD              -1.562         0.356          -1.363         0              0              0              45
   2  CellPhone       2.575          0.886          0.696          0              180            0              34
   3  CellPhone       2.284          0.449          -0.870         0              119.999        0              47
   4  Pen             -1.603         0.668          1.634          0              0              0              46
   5  Pen             2.907          0.993          0.723          0              180            0              34
   6  CreditCard      -1.737         0.662          1.711          0              0              0              46
   7  KeyChain        -1.514         0.664          -1.405         0              90             0              44
   8  KeyChain        2.995          0.986          1.576          0              270            0              34
   9  Book            -0.181         0.693          0.559          0              0              0              26
  10  Book            0.086          0.693          0.113          0              0              0              26
  11  KeyChain        2.600          0.450          -0.721         0              119.999        0              47
  12  Laptop          -0.984         0.691          0.113          0              0              0              26
  13  Cloth           1.763          0.000          -1.732         0              70.590         0
  14  CreditCard      -1.648         0.662          -1.405         0              0              0              44
  15  Pen             -1.603         0.668          -1.327         0              0              0              44
  16  Pencil          1.352          0.028          -1.717         0              0              0              31
  17  BaseballBat     3.076          0.629          -1.762         0              0              338.300
  18  AlarmClock      2.995          0.987          1.008          0              180            0              34
  19  BaseballBat     0.808          0.05           2.151          0              0              270
  20  Pillow          -1.373         0.754          -0.204         0              255.000        0              26
  21  Pillow          -1.457         0.754          0.494          0              285.000        0              26
  22  CellPhone       2.819          0.988          1.292          0              180            0              34
  23  CD              2.514          0.448          -1.002         0              119.999        0              47
  24  Mug             2.534          0.182          1.785          0              180            0              42
  25  Curtains        -0.020         2.923          -1.853         0              0              0
  26  Bed             -0.750         -0.018         0.113          1.247          270            0
  27  LightSwitch     1.317          1.297          2.197          0              180            0
  28  DeskLamp        -1.618         0.669          1.486          0              0              0
  29  DeskLamp        -1.631         0.669          -1.308         0              0              0
  30  Painting        1.524          1.516          -1.853         90             0              0
  31  GarbageCan      1.352          0.000          -1.685         0              0              0
  32  Mirror          0.575          1.351          2.197          0              0              0
  33  Window          -0.013         1.687          -1.919         90             0              0
  34  Dresser         2.819          0.000          1.008          0              270            0
  35  Drawer          2.572          0.901          1.784          0              270            0
  36  Cabinet         2.484          0.499          1.014          0              270            0
  37  Cabinet         2.484          0.499          0.999          0              270            0
  38  Drawer          2.572          0.901          1.263          0              270            0
  39  Drawer          2.572          0.901          0.748          0              270            0
  40  Cabinet         2.484          0.499          -0.019         0              270            0
  41  Drawer          2.572          0.901          0.230          0              270            0
  42  Cabinet         2.484          0.499          2.033          0              270            0
  43  Drawer          -1.533         0.459          1.478          0              90             0
  44  SideTable       -1.599         0.001          -1.249         0              90             0
  45  Drawer          -1.533         0.459          -1.250         0              90             0
  46  SideTable       -1.599         0.001          1.479          0              90             0
  47  ArmChair        2.574          0.002          -0.817         0              299.998        0
  48  Shelf           -1.552         0.040          -1.400         0              90             0
  49  Shelf           -1.552         0.040          -1.133         0              90             0
  50  Shelf           -1.552         0.040          1.328          0              90             0
  51  Shelf           -1.552         0.040          1.595          0              90             0
  52  NorthWall
  53  EastWall
  54  SouthWall
  55  WestWall

Plan:
STEP 1: Turn to the right and go the the blue trash can on the floor. | STEP 2: Take the pencil out of the trash can. | STEP 3: Turn around and approach the nightstand to the left of the bed. | STEP 4: Set down the pencil on the base of the lamp sitting on the nightstand. | END