Task: Put the pencil on the white 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 around and walk forward to the small round table by the bed | STEP 2: Pick up the right most yellow pencil from the table | STEP 3: Turn around and walk forward then turn left and walk over to the large white shelf | STEP 4: Put the pencil on top of the white shelf | END