Task: Put a 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           0.5            0.937          3.5            0              180            0
   1  Mug             1.068          0.075          -3.077         0              0              0              30
   2  CD              1.775          0.093          -2.997         0              90             0              51
   3  CD              -2.745         0.082          -3.055         0              0              0              27
   4  Pen             -0.365         0.088          -2.830         0              0              0              32
   5  Pencil          1.657          0.556          2.612          0              0              0              53
   6  CreditCard      -0.365         0.083          -2.986         0              0              0              32
   7  Book            -2.331         0.190          3.503          0              180            0              46
   8  Book            -1.851         1.115          -3.158         0              0              0              33
   9  KeyChain        -0.602         1.117          -2.988         0              0              0              33
  10  KeyChain        1.537          0.553          2.391          0              90             0              53
  11  AlarmClock      -1.227         1.118          -2.817         0              0              0              33
  12  Book            -2.164         1.115          -2.902         0              0              0              33
  13  AlarmClock      -1.851         1.118          -2.732         0              0              0              33
  14  CellPhone       -1.16          0.586          -2.934         0              0              0              29
  15  Pillow          1.243          0.940          0.495          0              0              0              26
  16  Pillow          1.815          0.87           1.153          0              270            0              26
  17  TeddyBear       1.868          0.036          -0.561         0              59.999         0              Floor|-00.06|
  18  CreditCard      -2.010         0.190          3.593          0              180            0              46
  19  KeyChain        -1.227         1.117          -2.988         0              90             0              33
  20  Pencil          -3.397         0.377          -2.815         0              4.809          0              35
  21  Laptop          -1.539         1.114          -2.817         0              0              0              33
  22  RemoteControl   -0.289         1.118          -2.902         0              0              0              33
  23  CD              -2.164         1.115          -3.073         0              0              0              33
  24  Pen             1.755          0.559          2.253          0              0              0              53
  25  Mug             -2.865         0.080          -3.135         0              0              0              27
  26  Bed             0.967          0.049          0.667          0              90             0
  27  Cabinet         -3.0           1.497          -2.643         0              0              0
  28  Drawer          -0.365         0.785          -2.848         0              0              0
  29  Drawer          -1.159         0.785          -2.848         0              0              0
  30  Cabinet         2.064          1.497          -2.643         0              0              0
  31  Drawer          -1.159         0.285          -2.848         0              0              0
  32  Drawer          -0.365         0.285          -2.848         0              0              0
  33  Desk            -1.271         1.169          -2.987         0              0              0
  34  LightSwitch     -0.159         1.281          3.999          0              180            0
  35  GarbageCan      -3.338         0.022          -2.797         0              4.809          0
  36  HousePlant      -0.195         1.105          -3.084         0              0              0
  37  DeskLamp        1.863          0.581          2.431          0              0              0
  38  Mirror          -1.603         1.447          3.999          0              0              0
  39  Television      -3.883         1.771          2.122          0              90             0
  40  Window          -1.952         2.148          -3.302         90             180            0
  41  Window          -0.467         2.148          -3.302         90             180            0
  42  Window          -3.894         1.751          0.582          90             270            0
  43  Window          -3.894         1.751          -0.675         90             270            0
  44  LaundryHamper   1.831          0.058          3.689          0              354.434        1.354
  45  ArmChair        -0.948         0.051          3.583          0              175.988        0
  46  ArmChair        -2.172         0.051          3.598          0              180            0
  47  Blinds          -0.477         2.785          -3.253         0              0              0
  48  Blinds          -1.957         2.785          -3.253         0              0              0
  49  Blinds          -3.799         2.506          0.602          0              90             0
  50  Blinds          -3.799         2.506          -0.647         0              90             0
  51  Safe            1.673          0.054          -3.004         0              0              0
  52  ArmChair        -3.349         0.051          3.375          0              150.096        0
  53  SideTable       1.775          0.048          2.377          0              0              0
  54  Chair           -2.002         0.050          -2.532         0              165.000        0
  55  NorthWall
  56  EastWall
  57  SouthWall
  58  WestWall

Plan:
STEP 1: Go to the bed in front of you, then turn right and go pas the bed to the black chairs, turn to your left and go across the room to the blue, recycle bin on the floor.  | STEP 2: Pull out the pencil inside the recycle bin.  | STEP 3: Turn to your right and go to the white shelf in the wall to your right.  | STEP 4: Place the pencil on the front edge of the bottom shelf.  | END