Task: Take the pencil from the desk, put it back 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           0.75           0.900          -0.25          0              270            0
   1  Mug             -0.399         0.855          -1.529         0              0              0              33
   2  CD              -0.511         0.083          -1.093         0              0              0              32
   3  CD              -1.179         1.350          0.407          0              0              0              37
   4  CellPhone       -0.819         0.858          -1.010         0              0              0              33
   5  CellPhone       -2.074         0.105          0.683          0              0              0              46
   6  Pencil          -1.918         0.882          0.665          0              0              0              43
   7  KeyChain        -1.728         1.723          0.325          0              0              0              38
   8  Pillow          0.800          0.918          0.787          0              0              0              24
   9  AlarmClock      -2.045         1.350          0.448          0              0              0              43
  10  Book            1.815          0.783          1.076          0              0              0              24
  11  AlarmClock      -1.179         1.724          0.489          0              0              0              37
  12  BasketBall      1.976          0.120          0.211          0              331.076        0
  13  Pen             -0.549         0.089          -0.852         0              0              0              32
  14  Laptop          0.800          0.781          1.655          0              0              0              24
  15  BaseballBat     1.953          0.659          -1.81          346.388        0              0
  16  Bowl            -0.827         0.850          -1.641         0              0              0              33
  17  Pillow          1.118          0.867          2.464          0              0              0              24
  18  KeyChain        -1.744         0.879          0.330          0              0              0              36
  19  CreditCard      -0.587         0.364          -1.093         0              0              0              32
  20  CellPhone       1.815          0.784          2.234          0              0              0              24
  21  CD              -0.710         0.202          -0.310         0              0              0              26
  22  Pencil          -0.819         0.861          -0.836         0              0              0              33
  23  Mug             -0.399         0.855          -0.836         0              0              0              33
  24  Bed             1.227          -0.002         1.664          0              0              0
  25  LightSwitch     2.151          1.233          -0.518         0              270            0
  26  GarbageCan      -0.747         0.014          -0.327         0              0              0
  27  Mirror          -1.358         1.427          2.855          0              0              0
  28  DeskLamp        -2.296         0.858          0.750          0              0              0
  29  Window          -0.421         1.534          -1.947         90             0              0
  30  Window          0.579          1.534          -1.947         90             0              0
  31  Drawer          -0.491         0.739          -0.855         0              90             0
  32  Drawer          -0.491         0.204          -0.855         0              90             0
  33  Desk            -0.639         0.009          -1.187         0              90             0
  34  Drawer          -0.491         0.487          -0.855         0              90             0
  35  Shelf           -1.965         1.514          0.416          0              0              0
  36  Shelf           -1.965         1.092          0.416          0              0              0
  37  Shelf           -1.312         1.888          0.416          0              0              0
  38  Shelf           -1.965         1.888          0.416          0              0              0
  39  Shelf           -1.312         1.092          0.416          0              0              0
  40  Shelf           -1.312         1.514          0.416          0              0              0
  41  Blinds          0.601          2.161          -1.916         0              0              0
  42  Blinds          -0.402         2.161          -1.916         0              0              0
  43  Desk            -1.726         0.001          0.575          0              0              0
  44  Drawer          -2.058         0.733          0.734          0              0              0
  45  Drawer          -2.058         0.482          0.734          0              0              0
  46  Drawer          -2.058         0.198          0.735          0              0              0
  47  Chair           -0.137         0.000          -1.587         0              315            0
  48  Safe            -2.183         -7.748         2.576          0              180            0
  49  Chair           -1.433         0.009          0.780          357.672        206.726        0
  50  LaundryHamper   0.163          0.003          2.635          0              86.390         0
  51  NorthWall
  52  EastWall
  53  SouthWall
  54  WestWall

Plan:
STEP 1: Turn to the right | STEP 2: head to the desk in the corner | STEP 3: Take the pencil from the desk | STEP 4: Turn around twice, put the pencil on the desk | END