Task: Put a pencil 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           0.0            0.900          0.75           0              0              0
   1  Bowl            -1.283         1.824          -0.690         0              0              0              29
   2  CD              -1.309         1.458          -0.427         0              0              0              28
   3  CD              -1.194         0.792          -0.385         0              0              0              43
   4  Pencil          -1.283         1.826          -0.427         0              0              0              29
   5  Pen             0.305          0.679          1.348          0              0              0              35
   6  Pen             0.368          0.682          -1.537         0              0              0              42
   7  CreditCard      0.380          0.480          -1.546         0              0              0              41
   8  AlarmClock      0.150          0.682          1.348          0              0              0              35
   9  Book            1.243          0.578          -1.373         0              0              0              22
  10  Pencil          -0.585         0.840          -2.107         0              0              0              26
  11  Laptop          -1.005         0.780          -1.477         0              31.363         0              43
  12  Pen             0.368          0.679          -1.684         0              0              0              42
  13  TennisRacket    -1.226         0.301          -0.069         15.000         180            180
  14  TeddyBear       1.629          0.557          -1.064         0              118.287        0              44
  15  Pillow          1.215          0.641          -1.663         0              0              0              22
  16  CellPhone       0.414          0.678          -1.781         0              0              0              42
  17  KeyChain        0.476          0.374          1.286          0              270            0              37
  18  AlarmClock      -0.981         0.794          -0.600         0              0              0              43
  19  CreditCard      -0.831         0.793          -1.291         0              53.910         0              43
  20  CD              1.640          0.039          0.541          0              0              0              39
  21  Bowl            -1.194         0.794          -0.600         0              0              0              43
  22  Bed             1.242          -0.001         -0.881         0              180            0
  23  LightSwitch     0.010          1.315          1.499          0              180            0
  24  GarbageCan      0.840          0.007          1.337          0              180            2.168
  25  HousePlant      -0.083         0.828          -2.045         0              0              0
  26  Shelf           -0.469         0.828          -2.038         0              0              0
  27  Shelf           -1.286         1.451          -1.343         0              0              0
  28  Shelf           -1.286         1.451          -0.602         0              0              0
  29  Shelf           -1.286         1.814          -0.602         0              0              0
  30  Shelf           -1.286         1.814          -1.343         0              0              0
  31  Painting        1.111          1.628          -1.865         90             0              0
  32  DeskLamp        0.473          0.669          1.350          0              0              0
  33  Mirror          -1.383         1.565          0.512          0              270            0
  34  Window          -0.472         1.396          -2.252         90             0              0
  35  SideTable       0.304          -0.001         1.225          0              180            0
  36  Drawer          0.304          0.165          1.159          0              180            0
  37  Drawer          0.304          0.457          1.159          0              180            0
  38  Blinds          -0.453         2.156          -2.242         0              0              0
  39  Safe            1.623          5.960          0.448          0              270            0
  40  Chair           -0.683         0.000          -1.326         0              217.223        0
  41  Drawer          0.416          0.532          -1.553         0              0              0
  42  SideTable       0.413          0.000          -1.684         0              0              0
  43  Desk            -0.788         0.000          -1.032         0              90             0
  44
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: Turn around, then go straight to approach the windowsill. | STEP 2: Pick up the pencil, to the right of the plant in the windowsill. | STEP 3: Turn around, go straight, then turn left to face the desk. | STEP 4: Put the pencil on the desk, to the left of the clock. | END