Task: Putting a container with a pencil in it 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           -1.75          0.900          2.0            0              0              0
   1  Bowl            -1.744         0.882          0.749          0              0              0              44
   2  Mug             -2.091         0.876          0.665          0              0              0              44
   3  Mug             -1.233         1.721          0.407          0              180            0              38
   4  CD              -2.083         0.039          2.522          0              180            0              49
   5  CellPhone       -1.994         0.387          0.721          0              0              0              46
   6  CellPhone       1.003          0.784          1.076          0              0              0              25
   7  Pencil          -1.744         0.882          0.581          0              0              0              44
   8  KeyChain        -1.571         0.879          0.581          0              0              0              44
   9  Pillow          1.409          0.918          0.787          0              0              0              25
  10  Laptop          1.206          0.781          1.366          0              0              0              25
  11  Book            -0.511         0.083          -0.933         0              0              0              33
  12  AlarmClock      -1.397         0.879          0.665          0              0              0              44
  13  BasketBall      1.976          0.120          0.211          0              331.076        0
  14  Pen             -0.483         0.863          -1.529         0              0              0              34
  15  Laptop          1.612          0.781          1.655          0              0              0              25
  16  BaseballBat     1.953          0.659          -1.81          346.388        0              0
  17  Bowl            -0.827         0.850          -1.641         0              0              0              34
  18  Pillow          1.118          0.867          2.464          0              0              0              25
  19  KeyChain        -0.651         0.857          -1.010         0              0              0              34
  20  CreditCard      -0.511         0.649          -1.092         0              0              0              32
  21  CellPhone       -2.187         0.040          2.575          0              180            0              49
  22  CD              -1.397         0.878          0.832          0              0              0              44
  23  Pencil          -2.151         1.353          0.489          0              0              0              36
  24  Mug             -0.399         0.855          -0.836         0              0              0              34
  25  Bed             1.227          -0.002         1.664          0              0              0
  26  LightSwitch     2.151          1.233          -0.518         0              270            0
  27  GarbageCan      -0.747         0.014          -0.327         0              0              0
  28  Mirror          -1.358         1.427          2.855          0              0              0
  29  DeskLamp        -2.296         0.858          0.750          0              0              0
  30  Window          -0.421         1.534          -1.947         90             0              0
  31  Window          0.579          1.534          -1.947         90             0              0
  32  Drawer          -0.491         0.739          -0.855         0              90             0
  33  Drawer          -0.491         0.204          -0.855         0              90             0
  34  Desk            -0.639         0.009          -1.187         0              90             0
  35  Drawer          -0.491         0.487          -0.855         0              90             0
  36  Shelf           -1.965         1.514          0.416          0              0              0
  37  Shelf           -1.965         1.092          0.416          0              0              0
  38  Shelf           -1.312         1.888          0.416          0              0              0
  39  Shelf           -1.965         1.888          0.416          0              0              0
  40  Shelf           -1.312         1.092          0.416          0              0              0
  41  Shelf           -1.312         1.514          0.416          0              0              0
  42  Blinds          0.601          2.161          -1.916         0              0              0
  43  Blinds          -0.402         2.161          -1.916         0              0              0
  44  Desk            -1.726         0.001          0.575          0              0              0
  45  Drawer          -2.058         0.733          0.734          0              0              0
  46  Drawer          -2.058         0.482          0.734          0              0              0
  47  Drawer          -2.058         0.198          0.735          0              0              0
  48  Chair           -0.137         0.000          -1.587         0              315            0
  49  Safe            -2.183         -7.748         2.576          0              180            0
  50  Chair           -1.433         0.009          0.780          357.672        206.726        0
  51  LaundryHamper   0.163          0.003          2.635          0              86.390         0
  52  NorthWall
  53  EastWall
  54  SouthWall
  55  WestWall

Plan:
STEP 1: Turn around and go to the desk | STEP 2: Grab the pencil off of the desk | STEP 3: Look down at the desk | STEP 4: Put the pencil in the container on the desk | STEP 5: Grab the container off of the desk | STEP 6: Back up from the desk | STEP 7: Put the container down at the back of the desk | END