Task: Take a pencil out of the trash and put 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           -0.5           0.900          -0.25          0              270            0
   1  CellPhone       0.584          0.647          0.598          0              0              0              27
   2  Pen             -0.934         1.353          -2.222         0              0              0              43
   3  Pencil          0.101          0.148          -2.157         0              90             0              30
   4  Pencil          1.639          0.377          -0.930         0              180            0              33
   5  CreditCard      1.615          0.374          -1.102         0              90             0              33
   6  CreditCard      1.807          0.680          -1.065         0              270            0              35
   7  Book            0.584          0.646          -0.120         0              0              0              27
   8  Book            -1.396         1.778          -2.221         0              0              0              40
   9  AlarmClock      1.581          0.680          -1.065         0              270            0              35
  10  AlarmClock      -0.705         1.777          -2.041         0              0              0              40
  11  Laptop          -0.935         0.835          -1.753         0              0              0              40
  12  Book            1.152          0.646          0.239          0              0              0              27
  13  Box             -0.424         2.065          -2.027         0              352.503        0              40
  14  Pillow          0.868          0.739          0.418          0              0              0              27
  15  AlarmClock      -1.626         0.837          -2.185         0              0              0              40
  16  BasketBall      -0.337         0.120          1.031          0              0              0              Floor|-00.16|
  17  BaseballBat     -1.602         0.022          0.356          90             8.736          0              Floor|-00.16|
  18  Pen             -1.165         0.843          -2.077         0              0              0              40
  19  CellPhone       2.004          0.647          0.418          0              0              0              27
  20  TennisRacket    -1.667         0.0            0.818          90             29.999         0              Floor|-00.16|
  21  Laptop          1.152          0.643          0.777          0              0              0              27
  22  Pencil          -0.901         1.350          -2.074         0              0              0              43
  23  KeyChain        -1.626         1.777          -1.981         0              0              0              40
  24  CreditCard      -0.935         0.837          -1.969         0              0              0              40
  25  CD              -1.165         1.777          -2.161         0              0              0              40
  26  Mirror          0.883          1.582          -2.399         0              180            0
  27  Bed             1.176          -0.002         0.238          0              90             0
  28  LightSwitch     1.899          1.297          -1.302         0              270            0
  29  Poster          -1.927         1.411          -1.455         90             90             0
  30  GarbageCan      0.128          -0.030         -2.146         0              90             0
  31  Window          -2.028         1.388          -0.270         90             270            0
  32  DeskLamp        -1.673         1.774          -2.190         0              0              0
  33  Drawer          1.624          0.453          -0.987         0              270            0
  34  Drawer          1.624          0.163          -0.987         0              270            0
  35  SideTable       1.691          0.002          -0.988         0              270            0
  36  Chair           -1.089         0.009          -1.570         0              166.824        0
  37  Blinds          -1.949         2.158          -0.252         0              90             0
  38  Cabinet         -0.241         1.534          -2.101         0              0              0
  39  Cabinet         -1.301         1.534          -2.101         0              0              0
  40  Desk            -0.962         0.003          -1.942         0              0              0
  41  Cabinet         -1.683         1.534          -2.101         0              0              0
  42  Cabinet         -0.623         1.534          -2.101         0              0              0
  43  Shelf           -0.962         1.534          -2.101         0              0              0
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: Turn around and then face to your right twice so that you are facing the side of the trash can | STEP 2: Pick up a pencil out of the trash can | STEP 3: Look up from the trash can | STEP 4: Put the pencil down on the desk | END