Task: Move two blue pencils from the desktop to the shelf at the back of the desk

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.900          -0.5           0              180            0
   1  Mug             2.215          0.792          -1.185         0              0              0              50
   2  TissueBox       -1.293         0.107          -0.580         0              0              0              48
   3  Watch           -1.352         1.235          -0.649         0              0              0              45
   4  CD              1.839          0.795          -1.185         0              0              0              50
   5  Pen             2.309          1.284          -1.372         0              0              0              35
   6  Pencil          1.651          0.798          -1.153         0              0              0              50
   7  Book            -0.902         0.574          1.179          0              332.922        0              26
   8  Box             2.734          0.195          0.89           0              0              0
   9  Laptop          -0.289         0.561          1.091          0              0              0              26
  10  CellPhone       -1.283         1.227          -0.840         0              0              0              45
  11  BaseballBat     2.847          0.643          1.838          0              0              335.111
  12  BasketBall      1.019          0.330          -0.977         346.775        295.617        1.021
  13  TissueBox       1.665          0.129          -1.218         0              0              0              57
  14  CreditCard      1.961          0.802          -1.400         0              0              0              50
  15  AlarmClock      -1.269         1.227          -0.473         0              228.190        0              45
  16  Pencil          2.591          0.798          -1.153         0              0              0              50
  17  Boots           -1.279         0.000          -1.343         0              27.143         0
  18  Pillow          -0.634         0.63           1.611          0              0              0              26
  19  KeyChain        2.691          1.044          -1.398         0              0              0              37
  20  Bowl            2.027          0.794          -1.217         0              0              0              50
  21  Watch           2.591          0.795          -1.217         0              0              0              50
  22  CD              2.604          1.278          -1.417         0              0              0              36
  23  Pen             -1.352         1.239          -0.745         0              0              0              45
  24  Mug             1.651          0.793          -1.249         0              0              0              50
  25  Statue          1.823          1.036          -1.419         0              0              0              50
  26  Bed             -0.640         0.008          0.871          0              0              0
  27  DeskLamp        -1.319         1.238          -0.994         0              90             0
  28  GarbageCan      2.838          0.007          0.215          0              270            0
  29  Blinds          0.111          2.337          -1.436         0              0              0
  30  Mirror          1.985          1.381          1.875          0              0              0
  31  Window          0.118          1.496          -1.588         90             180            0
  32  LightSwitch     2.654          1.276          1.899          0              180            0
  33  Chair           2.457          0.011          -0.997         0              189.124        0
  34  Shelf           2.476          0.919          -1.384         0              0              0
  35  Shelf           2.251          1.503          -1.383         0              0              0
  36  Shelf           2.700          1.510          -1.380         0              0              0
  37  Shelf           2.476          1.153          -1.384         0              0              0
  38  Shelf           1.803          1.386          -1.384         0              0              0
  39  Shelf           1.803          0.919          -1.381         0              0              0
  40  DogBed          0.920          0.013          -1.044         0              0              0
  41  Drawer          -1.305         0.454          -0.918         0              90             0
  42  Drawer          -1.305         0.752          -0.919         0              90             0
  43  Drawer          -1.305         0.178          -0.918         0              90             0
  44  Drawer          -1.305         0.752          -0.579         0              90             0
  45  Dresser         -1.328         0.011          -0.744         0              90             0
  46  Drawer          -1.306         1.031          -0.579         0              90             0
  47  Drawer          -1.305         0.454          -0.578         0              90             0
  48  Drawer          -1.305         0.178          -0.578         0              90             0
  49  Drawer          -1.305         1.031          -0.919         0              90             0
  50  Desk            2.211          0.009          -1.259         0              0              0
  51  Drawer          2.817          0.189          -1.176         0              0              0
  52  Drawer          1.940          0.632          -1.176         0              0              0
  53  Drawer          1.940          0.189          -1.176         0              0              0
  54  Drawer          1.623          0.632          -1.176         0              0              0
  55  Drawer          2.817          0.632          -1.176         0              0              0
  56  Drawer          2.817          0.411          -1.176         0              0              0
  57  Drawer          1.623          0.189          -1.176         0              0              0
  58  Drawer          1.623          0.410          -1.176         0              0              0
  59  Drawer          1.940          0.410          -1.176         0              0              0
  60  NorthWall
  61  EastWall
  62  SouthWall
  63  WestWall

Plan:
STEP 1: Turn to your left and walk to the desk to the left of the window. | STEP 2: Pick up the blue pencil in front of the white mug. | STEP 3: Walk to the other side of the desk. | STEP 4: Place the pencil that you are carrying to the right of the keys on the shelf at the back of the desk. | STEP 5: Look down at the desktop. | STEP 6: Pick up the blue pencil directly in front of the wristwatch on the desktop. | STEP 7: Look up to the shelf with the keys and the pencil. | STEP 8: Place the pencil from in front of the wristwatch, on the shelf behind, and perpendicular to, the first blue pencil. | END