Task: Put a transparent plate with pencil in a book 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           0.900          2.25           0              270            0
   1  CD              -0.511         0.083          -0.933         0              0              0              31
   2  CellPhone       -2.187         0.040          2.575          0              180            0              47
   3  CellPhone       0.800          0.784          1.366          0              0              0              23
   4  Pencil          -0.483         0.861          -1.529         0              0              0              32
   5  Book            1.815          0.783          1.655          0              0              0              23
   6  Book            -0.483         0.857          -0.663         0              0              0              32
   7  Laptop          1.003          0.781          1.076          0              0              0              23
   8  AlarmClock      -1.286         1.724          0.489          0              0              0              36
   9  Book            1.815          0.783          1.945          0              0              0              23
  10  AlarmClock      -1.834         0.883          0.448          0              0              0              42
  11  BasketBall      1.976          0.120          0.211          0              331.076        0
  12  Pen             -2.155         0.673          0.721          0              0              0              43
  13  Laptop          1.612          0.781          2.234          0              0              0              23
  14  BaseballBat     1.953          0.659          -1.81          346.388        0              0
  15  Bowl            -0.735         0.861          -1.356         0              0              0              32
  16  Pillow          1.003          0.918          1.945          0              0              0              23
  17  KeyChain        -2.344         0.039          2.415          0              180            0              47
  18  CreditCard      -0.587         0.083          -0.612         0              0              0              31
  19  CellPhone       -0.819         0.858          -0.836         0              0              0              32
  20  CD              -0.435         0.364          -0.611         0              0              0              31
  21  Pencil          -0.473         0.368          -1.013         0              0              0              33
  22  Mug             -0.399         0.855          -1.183         0              0              0              32
  23  Bed             1.227          -0.002         1.664          0              0              0
  24  LightSwitch     2.151          1.233          -0.518         0              270            0
  25  GarbageCan      -0.747         0.014          -0.327         0              0              0
  26  Mirror          -1.358         1.427          2.855          0              0              0
  27  DeskLamp        -2.296         0.858          0.750          0              0              0
  28  Window          -0.421         1.534          -1.947         90             0              0
  29  Window          0.579          1.534          -1.947         90             0              0
  30  Drawer          -0.491         0.739          -0.855         0              90             0
  31  Drawer          -0.491         0.204          -0.855         0              90             0
  32  Desk            -0.639         0.009          -1.187         0              90             0
  33  Drawer          -0.491         0.487          -0.855         0              90             0
  34  Shelf           -1.965         1.514          0.416          0              0              0
  35  Shelf           -1.965         1.092          0.416          0              0              0
  36  Shelf           -1.312         1.888          0.416          0              0              0
  37  Shelf           -1.965         1.888          0.416          0              0              0
  38  Shelf           -1.312         1.092          0.416          0              0              0
  39  Shelf           -1.312         1.514          0.416          0              0              0
  40  Blinds          0.601          2.161          -1.916         0              0              0
  41  Blinds          -0.402         2.161          -1.916         0              0              0
  42  Desk            -1.726         0.001          0.575          0              0              0
  43  Drawer          -2.058         0.733          0.734          0              0              0
  44  Drawer          -2.058         0.482          0.734          0              0              0
  45  Drawer          -2.058         0.198          0.735          0              0              0
  46  Chair           -0.137         0.000          -1.587         0              315            0
  47  Safe            -2.183         -7.748         2.576          0              180            0
  48  Chair           -1.433         0.009          0.780          357.672        206.726        0
  49  LaundryHamper   0.163          0.003          2.635          0              86.390         0
  50  NorthWall
  51  EastWall
  52  SouthWall
  53  WestWall

Plan:
STEP 1: Turn left across the room and head towards the table on your right. | STEP 2: Pick up the pencil at the edge of the table. | STEP 3: Turn around right and back to the table. | STEP 4: Drop the pencil on the transparent plate on the table. | STEP 5: Pick up the transparent plate from the table. | STEP 6: Turn right around the room and head towards the book shelf on your left. | STEP 7: Put the transparent plate in the book shelf. | END