Pick up the pencil, hold it for 5 seconds, then place it on the shelf. Repeat this 3 times.
###Human:
generate CIL (high level robotic commands) for the prompt Pick up the pencil, hold it for 5 seconds, then place it on the shelf. Repeat this 3 times.

###assistant:
L:3; {Mo:pencil; G:1; T:5; Mz:shelf; G:0;}