Task: move pencil from one side of desk to the other

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          0.75           0              270            0
   1  Bowl            -0.819         0.861          -1.356         0              0              0              36
   2  Bowl            -2.045         1.353          0.366          0              0              0              46
   3  Pen             -0.785         0.209          -0.338         0              0              0              29
   4  Pencil          -0.819         0.861          -0.663         0              0              0              36
   5  CreditCard      -0.549         0.364          -0.933         0              0              0              35
   6  CreditCard      -1.834         1.349          0.530          0              0              0              38
   7  KeyChain        -1.833         0.386          0.646          0              0              0              48
   8  Book            1.206          0.783          1.076          0              0              0              27
   9  Pillow          1.612          0.918          1.366          0              0              0              27
  10  Laptop          1.206          0.781          0.787          0              0              0              27
  11  AlarmClock      -0.483         0.858          -1.529         0              0              0              36
  12  AlarmClock      -1.339         1.724          0.489          0              0              0              40
  13  Book            1.003          0.783          2.524          0              0              0              27
  14  AlarmClock      -1.179         1.724          0.448          0              0              0              40
  15  BasketBall      1.976          0.120          0.211          0              331.076        0
  16  Pen             -0.473         0.654          -0.692         0              0              0              34
  17  Laptop          0.800          0.781          1.076          0              0              0              27
  18  BaseballBat     1.953          0.659          -1.81          346.388        0              0
  19  Bowl            -1.744         0.882          0.581          0              0              0              46
  20  Pillow          1.612          0.918          2.524          0              0              0              27
  21  KeyChain        -1.744         0.879          0.832          0              0              0              46
  22  CreditCard      -0.735         0.857          -1.529         0              0              0              36
  23  CellPhone       -2.031         0.040          2.469          0              180            0              51
  24  CD              -2.240         0.039          2.682          0              180            0              51
  25  Pencil          -1.918         0.882          0.749          0              0              0              46
  26  Mug             -0.483         0.855          -1.702         0              0              0              36
  27  Bed             1.227          -0.002         1.664          0              0              0
  28  LightSwitch     2.151          1.233          -0.518         0              270            0
  29  GarbageCan      -0.747         0.014          -0.327         0              0              0
  30  Mirror          -1.358         1.427          2.855          0              0              0
  31  DeskLamp        -2.296         0.858          0.750          0              0              0
  32  Window          -0.421         1.534          -1.947         90             0              0
  33  Window          0.579          1.534          -1.947         90             0              0
  34  Drawer          -0.491         0.739          -0.855         0              90             0
  35  Drawer          -0.491         0.204          -0.855         0              90             0
  36  Desk            -0.639         0.009          -1.187         0              90             0
  37  Drawer          -0.491         0.487          -0.855         0              90             0
  38  Shelf           -1.965         1.514          0.416          0              0              0
  39  Shelf           -1.965         1.092          0.416          0              0              0
  40  Shelf           -1.312         1.888          0.416          0              0              0
  41  Shelf           -1.965         1.888          0.416          0              0              0
  42  Shelf           -1.312         1.092          0.416          0              0              0
  43  Shelf           -1.312         1.514          0.416          0              0              0
  44  Blinds          0.601          2.161          -1.916         0              0              0
  45  Blinds          -0.402         2.161          -1.916         0              0              0
  46  Desk            -1.726         0.001          0.575          0              0              0
  47  Drawer          -2.058         0.733          0.734          0              0              0
  48  Drawer          -2.058         0.482          0.734          0              0              0
  49  Drawer          -2.058         0.198          0.735          0              0              0
  50  Chair           -0.137         0.000          -1.587         0              315            0
  51  Safe            -2.183         -7.748         2.576          0              180            0
  52  Chair           -1.433         0.009          0.780          357.672        206.726        0
  53  LaundryHamper   0.163          0.003          2.635          0              86.390         0
  54  NorthWall
  55  EastWall
  56  SouthWall
  57  WestWall

Plan:
STEP 1: turn right, walk a few steps, turn left, walk towards the wall, turn left to face desk | STEP 2: pick up the pencil that is on the desk | STEP 3: turn around, take a step, turn right, take a step, turn right to face desk | STEP 4: put the pencil next to the dish on the desk | END