Task: put two pencils on 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           1.5            0.900          -1.75          0              270            0
   1  CD              -0.121         0.619          1.066          0              180            0              32
   2  Pencil          0.033          0.625          0.988          0              180            0              32
   3  Pencil          0.188          0.625          0.910          0              180            0              32
   4  Pencil          -0.121         0.623          0.677          0              180            0              32
   5  AlarmClock      -0.276         0.620          0.988          0              180            0              32
   6  Pillow          0.247          0.653          -1.434         0              0              0              20
   7  Box             2.453          0.222          -0.041         0              0              0
   8  Book            -0.300         0.555          -1.657         0              0              0              20
   9  KeyChain        1.055          0.677          -2.419         0              0              0              34
  10  Pillow          0.192          0.607          -2.307         0              0              0              20
  11  BaseballBat     0.419          0.666          1.044          10.360         0              0
  12  Pencil          -0.431         0.625          0.677          0              270            0              32
  13  CellPhone       -0.121         0.619          0.910          0              180            0              32
  14  CreditCard      0.818          0.675          -2.329         0              0              0              34
  15  Pen             -0.121         0.624          0.832          0              180            0              32
  16  Laptop          -0.661         0.613          0.778          0              165.000        0              32
  17  AlarmClock      -1.236         0.673          -2.425         0              29.999         0              34
  18  CD              1.173          0.679          -2.419         0              0              0              34
  19  Mug             0.996          0.677          -2.598         0              90             0              34
  20  Bed             -0.118         -0.001         -1.699         0              180            0
  21  Mirror          2.644          1.347          0.384          0              90             0
  22  GarbageCan      2.467          -0.029         0.936          0              271.107        0
  23  LightSwitch     0.333          1.256          1.149          0              180            0
  24  DeskLamp        0.915          0.670          -2.435         0              0              0
  25  Painting        0.003          1.562          -2.687         90             180            0
  26  Window          -1.559         1.414          -1.356         90             270            0
  27  Window          -1.559         1.414          -0.057         90             270            0
  28  Shelf           -0.276         0.351          0.832          0              0              0
  29  Shelf           -0.276         0.099          0.832          0              0              0
  30  Blinds          -1.462         2.157          -1.343         0              90             0
  31  Blinds          -1.462         2.157          -0.046         0              90             0
  32  Desk            -0.276         -0.001         0.833          0              0              0
  33  SideTable       -1.204         0.002          -2.456         0              0              0
  34  SideTable       0.948          0.002          -2.456         0              0              0
  35  Drawer          0.948          0.166          -2.389         0              0              0
  36  Drawer          -1.204         0.166          -2.389         0              0              0
  37  Drawer          0.948          0.458          -2.389         0              0              0
  38  Drawer          -1.204         0.458          -2.389         0              0              0
  39
  40  NorthWall
  41  EastWall
  42  SouthWall
  43  WestWall

Plan:
STEP 1: walk to face right side of desk | STEP 2: pick up pencil farthest away on desk | STEP 3: turn around to face night stand on right side of bed | STEP 4: put pencil on top of night stand | STEP 5: turn around to face right side of desk | STEP 6: pick up pencil on right side of desk | STEP 7: turn around to face night stand on right side of bed | STEP 8: put pencil on top of night stand to right of the clock | END