Task: Place pencil on the shelf.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.5           0.937          2.0            0              270            0
   1  Mug             -2.625         0.080          -2.897         0              90             0              24
   2  Mug             -1.227         1.114          -3.243         0              0              0              30
   3  CD              -3.363         0.373          -2.818         0              4.809          0              32
   4  Pencil          1.805          0.556          2.253          0              0              0              50
   5  KeyChain        -0.763         0.191          3.411          0              175.771        0              42
   6  KeyChain        -0.914         1.117          -3.158         0              0              0              30
   7  RemoteControl   -3.355         0.193          3.352          0              149.999        0              49
   8  AlarmClock      -0.602         1.118          -3.158         0              0              0              30
   9  Book            1.068          0.077          -3.161         0              0              0              27
  10  AlarmClock      -1.227         1.118          -2.817         0              0              0              30
  11  CellPhone       -0.289         1.119          -3.243         0              0              0              30
  12  Pillow          0.958          0.940          0.255          0              0              0              23
  13  Pillow          1.243          0.940          1.456          0              0              0              23
  14  TeddyBear       1.868          0.036          -0.561         0              59.999         0              Floor|-00.06|
  15  CreditCard      -0.365         0.584          -2.830         0              0              0              25
  16  KeyChain        1.615          0.095          -3.049         0              90             0              48
  17  Pencil          1.805          0.557          2.181          0              0              0              50
  18  Laptop          0.673          0.830          1.215          0              0              0              23
  19  RemoteControl   -1.071         0.085          -2.934         0              0              0              28
  20  CD              1.755          0.553          2.612          0              0              0              50
  21  Pen             1.706          0.552          2.324          0              0              0              50
  22  Mug             -2.745         0.080          -2.976         0              0              0              24
  23  Bed             0.967          0.049          0.667          0              90             0
  24  Cabinet         -3.0           1.497          -2.643         0              0              0
  25  Drawer          -0.365         0.785          -2.848         0              0              0
  26  Drawer          -1.159         0.785          -2.848         0              0              0
  27  Cabinet         2.064          1.497          -2.643         0              0              0
  28  Drawer          -1.159         0.285          -2.848         0              0              0
  29  Drawer          -0.365         0.285          -2.848         0              0              0
  30  Desk            -1.271         1.169          -2.987         0              0              0
  31  LightSwitch     -0.159         1.281          3.999          0              180            0
  32  GarbageCan      -3.338         0.022          -2.797         0              4.809          0
  33  HousePlant      -0.195         1.105          -3.084         0              0              0
  34  DeskLamp        1.863          0.581          2.431          0              0              0
  35  Mirror          -1.603         1.447          3.999          0              0              0
  36  Television      -3.883         1.771          2.122          0              90             0
  37  Window          -1.952         2.148          -3.302         90             180            0
  38  Window          -0.467         2.148          -3.302         90             180            0
  39  Window          -3.894         1.751          0.582          90             270            0
  40  Window          -3.894         1.751          -0.675         90             270            0
  41  LaundryHamper   1.831          0.058          3.689          0              354.434        1.354
  42  ArmChair        -0.948         0.051          3.583          0              175.988        0
  43  ArmChair        -2.172         0.051          3.598          0              180            0
  44  Blinds          -0.477         2.785          -3.253         0              0              0
  45  Blinds          -1.957         2.785          -3.253         0              0              0
  46  Blinds          -3.799         2.506          0.602          0              90             0
  47  Blinds          -3.799         2.506          -0.647         0              90             0
  48  Safe            1.673          0.054          -3.004         0              0              0
  49  ArmChair        -3.349         0.051          3.375          0              150.096        0
  50  SideTable       1.775          0.048          2.377          0              0              0
  51  Chair           -2.002         0.050          -2.532         0              165.000        0
  52  NorthWall
  53  EastWall
  54  SouthWall
  55  WestWall

Plan:
STEP 1: Turn and go to the left side of the bed the side with the lap top on it. Go to the small table next to the bed with the lamp on it. | STEP 2: Pick up the pencil that is to the right of the lamp but the one that is the farthest from the lamp | STEP 3: With the pencil in hand go to the shelf with the two clocks on it. | STEP 4: Place the pencil on the shelf to the left of the clock that is in front. | END