Task: Put two pencils on the hutch shelf, one horizontal and one vertical.

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           0.900          -0.25          0              180            0
   1  TissueBox       1.911          0.570          -1.218         0              0              0              62
   2  TissueBox       -1.293         0.384          -0.578         0              0              0              57
   3  Watch           -1.350         0.106          -0.881         0              0              0              53
   4  CD              -1.248         1.234          -0.840         0              0              0              55
   5  CellPhone       2.794          0.572          -1.190         0              0              0              65
   6  CellPhone       -0.979         0.566          0.113          0              0              0              36
   7  Pen             2.587          1.050          -1.368         0              0              0              44
   8  Pen             2.157          1.284          -1.372         0              0              0              45
   9  Pencil          -1.283         1.238          -0.745         0              0              0              55
  10  Pencil          -1.352         1.236          -0.649         0              0              0              55
  11  CreditCard      2.017          0.349          -1.246         0              0              0              69
  12  CreditCard      1.651          0.795          -1.282         0              0              0              60
  13  KeyChain        1.910          0.802          -1.385         0              0              0              60
  14  AlarmClock      1.651          0.796          -1.153         0              0              0              60
  15  AlarmClock      2.591          0.795          -1.217         0              0              0              60
  16  Laptop          -0.462         0.561          1.091          0              0              0              36
  17  Book            -0.902         0.574          1.179          0              332.922        0              36
  18  Box             2.734          0.195          0.89           0              0              0
  19  Laptop          -0.979         0.561          0.602          0              0              0              36
  20  CellPhone       -0.634         0.566          1.335          0              0              0              36
  21  BaseballBat     2.847          0.643          1.838          0              0              335.111
  22  BasketBall      1.019          0.330          -0.977         346.775        295.617        1.021
  23  TissueBox       1.982          0.129          -1.218         0              0              0              63
  24  CreditCard      -1.266         0.675          -0.847         0              0              0              52
  25  AlarmClock      2.215          0.795          -1.217         0              0              0              60
  26  Pencil          1.839          0.799          -1.185         0              0              0              60
  27  Boots           -1.279         0.000          -1.343         0              27.143         0
  28  Pillow          -0.462         0.640          0.113          0              0              0              36
  29  KeyChain        1.962          1.047          -1.388         0              0              0              48
  30  Bowl            2.451          0.788          -1.207         0              0              0              60
  31  Watch           -1.294         0.676          -0.650         0              0              0              54
  32  CD              -1.318         1.234          -0.458         0              0              0              55
  33  Pen             -1.293         0.111          -0.544         0              0              0              57
  34  Mug             2.821          0.788          -1.223         0              0              0              60
  35  Statue          1.823          1.036          -1.419         0              0              0              60
  36  Bed             -0.640         0.008          0.871          0              0              0
  37  DeskLamp        -1.319         1.238          -0.994         0              90             0
  38  GarbageCan      2.838          0.007          0.215          0              270            0
  39  Blinds          0.111          2.337          -1.436         0              0              0
  40  Mirror          1.985          1.381          1.875          0              0              0
  41  Window          0.118          1.496          -1.588         90             180            0
  42  LightSwitch     2.654          1.276          1.899          0              180            0
  43  Chair           2.457          0.011          -0.997         0              189.124        0
  44  Shelf           2.476          0.919          -1.384         0              0              0
  45  Shelf           2.251          1.503          -1.383         0              0              0
  46  Shelf           2.700          1.510          -1.380         0              0              0
  47  Shelf           2.476          1.153          -1.384         0              0              0
  48  Shelf           1.803          1.386          -1.384         0              0              0
  49  Shelf           1.803          0.919          -1.381         0              0              0
  50  DogBed          0.920          0.013          -1.044         0              0              0
  51  Drawer          -1.305         0.454          -0.918         0              90             0
  52  Drawer          -1.305         0.752          -0.919         0              90             0
  53  Drawer          -1.305         0.178          -0.918         0              90             0
  54  Drawer          -1.305         0.752          -0.579         0              90             0
  55  Dresser         -1.328         0.011          -0.744         0              90             0
  56  Drawer          -1.306         1.031          -0.579         0              90             0
  57  Drawer          -1.305         0.454          -0.578         0              90             0
  58  Drawer          -1.305         0.178          -0.578         0              90             0
  59  Drawer          -1.305         1.031          -0.919         0              90             0
  60  Desk            2.211          0.009          -1.259         0              0              0
  61  Drawer          2.817          0.189          -1.176         0              0              0
  62  Drawer          1.940          0.632          -1.176         0              0              0
  63  Drawer          1.940          0.189          -1.176         0              0              0
  64  Drawer          1.623          0.632          -1.176         0              0              0
  65  Drawer          2.817          0.632          -1.176         0              0              0
  66  Drawer          2.817          0.411          -1.176         0              0              0
  67  Drawer          1.623          0.189          -1.176         0              0              0
  68  Drawer          1.623          0.410          -1.176         0              0              0
  69  Drawer          1.940          0.410          -1.176         0              0              0
  70  NorthWall
  71  EastWall
  72  SouthWall
  73  WestWall

Plan:
STEP 1: Turn right for one step, turn left to face the desk. | STEP 2: Pick up the pencil sitting on the desk to the right of the chair. | STEP 3: Stand holding the pencil up. | STEP 4: Put the pencil on the second shelf horizontal to the dog and the tip facing the keys. | STEP 5: Turn around for one step, turn left and walk past the bean bag chair, take a left and then a right, and walk toward the dresser at the foot of the bed. | STEP 6: Pick up the pencil on the right. | STEP 7: Turn right for one step, turn right again and walk past the bean bag chair then turn right to face the desk. | STEP 8: Put the pencil on the second shelf, vertically behind middle of the existing pencil with the tip up and pencil leaning back on the dog statue. | END