Task: To pick two pencils from a table and put them inside a cabinet shelf.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.25          0.909          -3.75          0              90             0
   1  Mug             -3.466         0.977          -3.874         0              0              0              43
   2  CD              -0.453         0.799          -4.137         0              0              0              40
   3  CellPhone       -3.760         0.979          -3.472         0              0              0              43
   4  Pencil          -0.240         0.546          -3.713         0              0              0              34
   5  Pencil          -0.657         0.807          -4.354         0              0              0              40
   6  Pencil          -0.453         0.803          -3.920         0              0              0              40
   7  CreditCard      -0.249         0.803          -4.029         0              0              0              40
   8  KeyChain        -0.657         0.800          -4.246         0              0              0              40
   9  Laptop          -3.402         0.618          -1.793         0              0              0              25
  10  AlarmClock      -1.270         0.803          -3.703         0              0              0              40
  11  AlarmClock      -0.862         0.803          -4.246         0              0              0              40
  12  Book            -3.582         0.227          -4.163         0              0              0              47
  13  CellPhone       -3.539         0.981          -3.271         0              0              0              43
  14  Laptop          -1.169         0.796          -4.096         0              27.912         0              40
  15  CreditCard      -3.687         0.981          -3.070         0              0              0              43
  16  AlarmClock      -3.760         0.979          -4.276         0              0              0              43
  17  KeyChain        -0.657         0.804          -3.811         0              0              0              40
  18  TeddyBear       -2.567         0.575          -0.386         357.948        14.682         7.781          25
  19  BaseballBat     -1.155         0.033          -3.997         90             59.999         0              Floor|-01.88|
  20  Pencil          -1.474         0.803          -4.137         0              0              0              40
  21  Pillow          -3.402         0.722          -0.931         0              0              0              25
  22  CD              -3.526         0.418          -3.793         0              0              0              46
  23  Pen             -0.596         0.548          -3.657         0              0              0              34
  24  Mug             -0.657         0.798          -4.137         0              0              0              40
  25  Bed             -2.980         0.009          -1.177         0              0              0
  26  LightSwitch     -1.620         1.351          0.0            0              180            0
  27  DeskLamp        -1.529         0.790          -4.298         0              0              0
  28  Mirror          -0.002         1.251          -2.592         0              90             0
  29  GarbageCan      -1.843         -0.017         -3.897         0              279.992        0
  30  Window          0.209          1.180          -1.504         90             270            0
  31  Drawer          -0.503         0.067          -4.188         0              180            0
  32  Drawer          -0.502         0.226          -3.799         0              0              0
  33  Drawer          -0.502         0.385          -3.799         0              0              0
  34  CoffeeTable     -0.503         0.009          -3.990         0              0              0
  35  Drawer          -0.502         0.067          -3.799         0              0              0
  36  Blinds          0.163          2.196          -1.495         0              270            0
  37  TableTopDecor   -3.586         0.996          -3.055         0              180            0
  38  Drawer          -0.503         0.385          -4.188         0              180            0
  39  Drawer          -0.503         0.226          -4.188         0              180            0
  40  Desk            -0.862         0.006          -4.028         0              0              0
  41  Drawer          -3.609         0.876          -4.055         0              90             0
  42  Drawer          -3.608         0.112          -3.261         0              90             0
  43  Dresser         -3.653         0.008          -3.658         0              90             0
  44  Drawer          -3.609         0.688          -3.261         0              90             0
  45  Drawer          -3.609         0.300          -3.261         0              90             0
  46  Drawer          -3.609         0.494          -4.055         0              90             0
  47  Drawer          -3.609         0.300          -4.055         0              90             0
  48  Drawer          -3.608         0.112          -4.055         0              90             0
  49  Drawer          -3.609         0.688          -4.055         0              90             0
  50  Drawer          -3.609         0.876          -3.261         0              90             0
  51  Drawer          -3.609         0.494          -3.261         0              90             0
  52  NorthWall
  53  EastWall
  54  SouthWall
  55  WestWall

Plan:
STEP 1: Go to the longer side of the white table | STEP 2: Pick up a pencil from the center of the table | STEP 3: Turn right, go across the room to the cabinet | STEP 4: Pull the second lowest shelf on the left-side of the cabinet, put the pencil in the shelf, and close it | STEP 5: Turn around, go to the front shorter side of the white table | STEP 6: Pick up the pencil from the table | STEP 7: Go back to the cabinet | STEP 8: Open the same shelf and put the pencil by the side of the first pencil | END