Task: Move the pencil to a different area of 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          1.0            0              270            0
   1  Mug             -0.483         0.855          -1.183         0              0              0              36
   2  CD              -0.785         0.202          -0.310         0              0              0              29
   3  CD              -2.155         0.104          0.759          0              0              0              49
   4  CellPhone       -2.083         0.040          2.682          0              180            0              51
   5  CellPhone       -2.031         0.040          2.522          0              180            0              51
   6  Pen             -0.483         0.863          -1.356         0              0              0              36
   7  Pen             -1.914         0.110          0.683          0              0              0              49
   8  KeyChain        -0.511         0.365          -0.692         0              0              0              37
   9  KeyChain        -2.344         0.039          2.736          0              270            0              54
  10  Book            -0.819         0.857          -0.836         0              0              0              36
  11  Laptop          1.409          0.781          1.945          0              0              0              27
  12  AlarmClock      -0.819         0.858          -1.010         0              0              0              36
  13  Book            1.003          0.783          2.524          0              0              0              27
  14  AlarmClock      -1.233         1.724          0.448          0              0              0              40
  15  BasketBall      1.976          0.120          0.211          0              331.076        0
  16  Pen             -0.483         0.863          -1.529         0              0              0              36
  17  Laptop          1.612          0.781          1.366          0              0              0              27
  18  BaseballBat     1.953          0.659          -1.81          346.388        0              0
  19  Bowl            -0.567         0.861          -0.836         0              0              0              36
  20  Pillow          1.206          0.918          1.076          0              0              0              27
  21  KeyChain        -2.135         0.039          2.415          0              180            0              51
  22  CreditCard      -0.473         0.364          -1.013         0              0              0              35
  23  CellPhone       -1.994         0.387          0.721          0              0              0              48
  24  CD              -0.651         0.857          -1.356         0              0              0              36
  25  Pencil          -1.571         0.882          0.832          0              0              0              46
  26  Mug             -2.045         1.347          0.407          0              0              0              46
  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
  55  NorthWall
  56  EastWall
  57  SouthWall
  58  WestWall

Plan:
STEP 1: Turn right and take one step, then turn left and walk across the room, then turn left to face the desk.  | STEP 2: Pick up the pencil near the edge of the desk.  | STEP 3: Turn around and take one step, then turn back around to face the desk.  | STEP 4: Put the pencil down directly in front of the set of books on the left.  | END