Task: Move a pencil to the desk shelf

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.900          -1.0           0              270            0
   1  CD              1.762          0.680          -1.220         0              270            0              34
   2  CellPhone       1.615          0.376          -1.045         0              90             0              43
   3  CellPhone       -1.626         0.839          -2.185         0              0              0              39
   4  Pencil          1.626          0.684          -0.988         0              270            0              34
   5  CreditCard      -0.901         1.347          -2.172         0              0              0              42
   6  Book            -1.396         1.778          -2.101         0              0              0              39
   7  Laptop          -0.244         0.835          -2.077         0              0              0              39
   8  Laptop          -0.935         1.775          -2.161         0              0              0              39
   9  Pillow          0.584          0.739          0.238          0              0              0              26
  10  Pillow          1.720          0.739          0.777          0              0              0              26
  11  Book            1.436          0.646          -0.299         0              0              0              26
  12  Box             -0.424         2.065          -2.027         0              352.503        0              39
  13  Pillow          1.152          0.739          0.777          0              0              0              26
  14  AlarmClock      -0.244         0.837          -1.645         0              0              0              39
  15  BasketBall      -0.337         0.120          1.031          0              0              0              Floor|-00.16|
  16  BaseballBat     -1.602         0.022          0.356          90             8.736          0              Floor|-00.16|
  17  Pen             -0.705         1.783          -1.981         0              0              0              39
  18  CellPhone       0.584          0.647          0.777          0              0              0              26
  19  TennisRacket    -1.667         0.0            0.818          90             29.999         0              Floor|-00.16|
  20  Laptop          -0.935         0.835          -1.861         0              0              0              39
  21  Pencil          -0.705         0.841          -1.969         0              0              0              39
  22  KeyChain        1.536          0.681          -0.988         0              270            0              34
  23  CreditCard      1.663          0.082          -0.816         0              90             0              44
  24  CD              1.592          0.082          -1.102         0              90             0              33
  25  Mirror          0.883          1.582          -2.399         0              180            0
  26  Bed             1.176          -0.002         0.238          0              90             0
  27  LightSwitch     1.899          1.297          -1.302         0              270            0
  28  Poster          -1.927         1.411          -1.455         90             90             0
  29  GarbageCan      0.128          -0.030         -2.146         0              90             0
  30  Window          -2.028         1.388          -0.270         90             270            0
  31  DeskLamp        -1.673         1.774          -2.190         0              0              0
  32  Drawer          1.624          0.453          -0.987         0              270            0
  33  Drawer          1.624          0.163          -0.987         0              270            0
  34  SideTable       1.691          0.002          -0.988         0              270            0
  35  Chair           -1.089         0.009          -1.570         0              166.824        0
  36  Blinds          -1.949         2.158          -0.252         0              90             0
  37  Cabinet         -0.241         1.534          -2.101         0              0              0
  38  Cabinet         -1.301         1.534          -2.101         0              0              0
  39  Desk            -0.962         0.003          -1.942         0              0              0
  40  Cabinet         -1.683         1.534          -2.101         0              0              0
  41  Cabinet         -0.623         1.534          -2.101         0              0              0
  42  Shelf           -0.962         1.534          -2.101         0              0              0
  43
  44
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: Move to the left side of the desk where the pencil is sitting on top of the desk | STEP 2: Pick up the pencil on the edge of the desk | STEP 3: Move the pencil towards the desk shelf directly above the desk top | STEP 4: Place the pencil on top of the desk shelf | END