Task: Put two pencils on a shelf on a 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          -1.0           0              180            0
   1  Mug             1.839          0.793          -1.282         0              0              0              53
   2  TissueBox       -1.294         0.969          -0.954         0              0              0              52
   3  Watch           2.482          1.044          -1.383         0              0              0              40
   4  Watch           1.651          0.795          -1.282         0              0              0              53
   5  CD              2.764          0.126          -1.190         0              0              0              54
   6  CD              -1.387         1.234          -0.840         0              0              0              48
   7  CellPhone       -1.387         1.236          -0.458         0              0              0              48
   8  Pencil          -1.352         1.238          -0.745         0              0              0              48
   9  AlarmClock      2.215          0.796          -1.217         0              0              0              53
  10  Book            -0.979         0.565          0.358          0              0              0              29
  11  Box             2.734          0.195          0.89           0              0              0
  12  Laptop          -0.5           0.56           0.286          0              63.464         0              29
  13  CellPhone       -0.289         0.566          1.091          0              0              0              29
  14  BaseballBat     2.847          0.643          1.838          0              0              335.111
  15  BasketBall      1.019          0.330          -0.976         346.948        295.819        0
  16  TissueBox       1.594          0.129          -1.218         0              0              0              60
  17  CreditCard      2.587          1.044          -1.413         0              0              0              40
  18  AlarmClock      2.591          0.796          -1.185         0              0              0              53
  19  Pencil          1.839          0.799          -1.121         0              0              0              53
  20  Boots           -1.279         0.000          -1.343         0              27.143         0
  21  Pillow          -0.634         0.63           1.611          0              0              0              29
  22  KeyChain        2.259          1.278          -1.387         0              0              0              38
  23  Bowl            2.451          0.788          -1.207         0              0              0              53
  24  Watch           -1.318         1.235          -0.649         0              0              0              48
  25  CD              1.911          0.126          -1.218         0              0              0              56
  26  Pen             1.707          0.808          -1.370         0              0              0              53
  27  Mug             2.821          0.788          -1.223         0              0              0              53
  28  Statue          1.823          1.036          -1.419         0              0              0              53
  29  Bed             -0.640         0.008          0.871          0              0              0
  30  DeskLamp        -1.319         1.238          -0.994         0              90             0
  31  GarbageCan      2.838          0.007          0.215          0              270            0
  32  Blinds          0.111          2.337          -1.436         0              0              0
  33  Mirror          1.985          1.381          1.875          0              0              0
  34  Window          0.118          1.496          -1.588         90             180            0
  35  LightSwitch     2.654          1.276          1.899          0              180            0
  36  Chair           2.457          0.011          -0.997         0              189.124        0
  37  Shelf           2.476          0.919          -1.384         0              0              0
  38  Shelf           2.251          1.503          -1.383         0              0              0
  39  Shelf           2.700          1.510          -1.380         0              0              0
  40  Shelf           2.476          1.153          -1.384         0              0              0
  41  Shelf           1.803          1.386          -1.384         0              0              0
  42  Shelf           1.803          0.919          -1.381         0              0              0
  43  DogBed          0.920          0.013          -1.044         0              0              0
  44  Drawer          -1.305         0.454          -0.918         0              90             0
  45  Drawer          -1.305         0.752          -0.919         0              90             0
  46  Drawer          -1.305         0.178          -0.918         0              90             0
  47  Drawer          -1.305         0.752          -0.579         0              90             0
  48  Dresser         -1.328         0.011          -0.744         0              90             0
  49  Drawer          -1.306         1.031          -0.579         0              90             0
  50  Drawer          -1.305         0.454          -0.578         0              90             0
  51  Drawer          -1.305         0.178          -0.578         0              90             0
  52  Drawer          -1.305         1.031          -0.919         0              90             0
  53  Desk            2.211          0.009          -1.259         0              0              0
  54  Drawer          2.817          0.189          -1.176         0              0              0
  55  Drawer          1.940          0.632          -1.176         0              0              0
  56  Drawer          1.940          0.189          -1.176         0              0              0
  57  Drawer          1.623          0.632          -1.176         0              0              0
  58  Drawer          2.817          0.632          -1.176         0              0              0
  59  Drawer          2.817          0.411          -1.176         0              0              0
  60  Drawer          1.623          0.189          -1.176         0              0              0
  61  Drawer          1.623          0.410          -1.176         0              0              0
  62  Drawer          1.940          0.410          -1.176         0              0              0
  63  NorthWall
  64  EastWall
  65  SouthWall
  66  WestWall

Plan:
STEP 1: Turn around, go forward to the bed, turn right, go forward, turn right to the right side of the desk, go to the desk. | STEP 2: Take the blue pencil from the desk. | STEP 3: Stay at the desk. | STEP 4: Put the pencil on the shelf with the gold sculpture. | STEP 5: Turn right, go forward to the dresser to the left of the bed. | STEP 6: Take the blue pencil from the dresser. | STEP 7: Turn around, go back to the right side of the desk. | STEP 8: Put the pencil on the shelf with the gold sculpture. | END