Task: move the pencil to 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           1.0            0.900          -2.0           0              270            0
   1  CD              0.154          0.145          -2.196         0              90             0              27
   2  Pen             -0.935         1.783          -2.221         0              0              0              37
   3  Pencil          -0.934         1.350          -2.074         0              0              0              40
   4  Pencil          1.536          0.684          -0.833         0              270            0              32
   5  KeyChain        -0.244         0.838          -2.293         0              0              0              37
   6  KeyChain        1.762          0.681          -0.833         0              270            0              32
   7  AlarmClock      1.717          0.680          -1.065         0              270            0              32
   8  Pillow          0.584          0.739          0.418          0              0              0              24
   9  Book            -0.474         0.839          -1.861         0              0              0              37
  10  Box             -0.424         2.065          -2.027         0              352.503        0              37
  11  Pillow          1.152          0.739          -0.299         0              0              0              24
  12  AlarmClock      -0.934         1.347          -2.222         0              0              0              40
  13  BasketBall      -0.337         0.120          1.031          0              0              0              Floor|-00.16|
  14  BaseballBat     -1.602         0.022          0.356          90             8.736          0              Floor|-00.16|
  15  Pen             -1.626         0.843          -1.861         0              0              0              37
  16  CellPhone       1.720          0.647          0.598          0              0              0              24
  17  TennisRacket    -1.667         0.0            0.818          90             29.999         0              Floor|-00.16|
  18  Laptop          -0.935         0.835          -2.077         0              0              0              37
  19  Pencil          1.639          0.377          -1.159         0              180            0              30
  20  KeyChain        -1.033         1.347          -2.074         0              90             0              40
  21  CreditCard      1.581          0.680          -1.220         0              270            0              32
  22  CD              -0.705         0.837          -1.753         0              0              0              37
  23  Mirror          0.883          1.582          -2.399         0              180            0
  24  Bed             1.176          -0.002         0.238          0              90             0
  25  LightSwitch     1.899          1.297          -1.302         0              270            0
  26  Poster          -1.927         1.411          -1.455         90             90             0
  27  GarbageCan      0.128          -0.030         -2.146         0              90             0
  28  Window          -2.028         1.388          -0.270         90             270            0
  29  DeskLamp        -1.673         1.774          -2.190         0              0              0
  30  Drawer          1.624          0.453          -0.987         0              270            0
  31  Drawer          1.624          0.163          -0.987         0              270            0
  32  SideTable       1.691          0.002          -0.988         0              270            0
  33  Chair           -1.089         0.009          -1.570         0              166.824        0
  34  Blinds          -1.949         2.158          -0.252         0              90             0
  35  Cabinet         -0.241         1.534          -2.101         0              0              0
  36  Cabinet         -1.301         1.534          -2.101         0              0              0
  37  Desk            -0.962         0.003          -1.942         0              0              0
  38  Cabinet         -1.683         1.534          -2.101         0              0              0
  39  Cabinet         -0.623         1.534          -2.101         0              0              0
  40  Shelf           -0.962         1.534          -2.101         0              0              0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: cross the room to the night stand | STEP 2: pick up the pencil sitting on the edge of the night stand | STEP 3: cross the room to the desk | STEP 4: set the pencil down on the desk | END