Task: move pencil from desk to shelf

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.900          -0.5           0              0              0
   1  Mug             1.562          0.706          -0.226         0              0              0              35
   2  Mug             1.572          0.486          -0.394         0              270            0              35
   3  CD              -0.120         0.289          -1.425         0              180            0              42
   4  CD              1.479          0.701          -1.814         0              180            0              45
   5  Pen             0.387          0.294          -1.532         0              180            0              41
   6  Book            0.387          0.082          -1.425         0              180            0              39
   7  Book            -1.483         0.527          0.160          0              0              0              26
   8  KeyChain        0.295          0.498          -1.319         0              270            0              44
   9  Box             1.537          1.652          0.692          0              0              0              29
  10  Book            -1.483         0.527          -0.326         0              0              0              26
  11  AlarmClock      1.469          1.412          0.393          0              270            0              35
  12  CellPhone       -1.483         0.530          0.404          0              0              0              26
  13  TissueBox       1.562          0.710          -0.465         0              0              0              35
  14  TeddyBear       -2.204         0.500          0.181          355.000        297.467        9.162          26
  15  CreditCard      0.741          0.701          -1.326         0              180            0              43
  16  KeyChain        0.433          0.497          -1.532         0              180            0              44
  17  BaseballBat     -2.202         0.04           -1.343         0              45             90             Floor|+00.00|
  18  TennisRacket    -2.254         0.324          -1.806         15.000         180            180            Floor|+00.00|
  19  Pillow          -1.923         0.598          -0.570         0              0              0              26
  20  Laptop          0.037          0.694          -1.459         0              348.828        0              43
  21  CD              -0.637         0.046          0.826          0              0              0              28
  22  Pen             1.631          1.417          0.393          0              270            0              35
  23  Pencil          0.248          0.707          -1.716         0              180            0              43
  24  Mug             1.600          0.706          -0.703         0              0              0              35
  25  Mirror          -0.689         1.495          0.954          0              0              0
  26  Bed             -1.742         0.000          -0.071         0              0              0
  27  Chair           0.891          -0.001         -1.251         0              175.104        0
  28  GarbageCan      -0.606         -0.021         0.799          0              0              0
  29  ShelvingUnit    1.550          1.402          0.374          0              270            0
  30  Painting        -2.401         1.700          -0.859         90             90             0
  31  DeskLamp        1.291          0.699          -1.717         0              0              0
  32  LightSwitch     0.231          1.287          0.954          0              180            0
  33  HousePlant      1.488          1.394          0.035          0              122.291        0
  34  Window          0.046          1.559          -2.079         90             180            0
  35  SideTable       1.561          0.000          -0.465         0              270            0
  36  Shelf           1.541          0.493          -0.475         0              270            0
  37  Blinds          0.007          2.152          -2.014         0              0              0
  38  Drawer          -0.156         0.547          -1.430         0              0              0
  39  Drawer          0.270          0.159          -1.430         0              0              0
  40  Drawer          -0.156         0.159          -1.430         0              0              0
  41  Drawer          0.270          0.353          -1.430         0              0              0
  42  Drawer          -0.156         0.353          -1.430         0              0              0
  43  Desk            0.634          0.002          -1.557         0              0              0
  44  Drawer          0.270          0.547          -1.430         0              0              0
  45  Shelf           1.406          0.571          -1.514         0              0              0
  46  Shelf           1.406          0.183          -1.514         0              0              0
  47  Shelf           1.584          0.183          -1.514         0              0              0
  48  Shelf           1.406          0.377          -1.514         0              0              0
  49  Shelf           1.584          0.377          -1.514         0              0              0
  50  Shelf           1.584          0.571          -1.514         0              0              0
  51  NorthWall
  52  EastWall
  53  SouthWall
  54  WestWall

Plan:
STEP 1: turn right, walk a few steps, turn right, walk to the desk | STEP 2: pick up the pencil that is on the desk | STEP 3: turn around, walk two steps, turn right, walk to small table | STEP 4: put pencil on second shelf of table | END