Task: Place a pen on the shelf.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.900          -1.5           0              0              0
   1  CD              -0.595         1.347          -2.083         0              0              0              37
   2  Pencil          -0.901         1.350          -2.172         0              0              0              38
   3  Pencil          -0.474         0.841          -1.969         0              0              0              35
   4  CreditCard      -1.165         0.837          -2.293         0              0              0              35
   5  Book            -1.626         0.839          -1.969         0              90             0              35
   6  Laptop          1.436          0.643          0.418          0              0              0              22
   7  Book            1.720          0.646          -0.120         0              0              0              22
   8  Box             -0.424         2.065          -2.027         0              352.503        0              35
   9  Pillow          1.993          0.67           0.222          0              270            0              22
  10  AlarmClock      -1.165         0.837          -2.077         0              0              0              35
  11  BasketBall      -0.337         0.120          1.031          0              0              0              Floor|-00.16|
  12  BaseballBat     -1.602         0.022          0.356          90             8.736          0              Floor|-00.16|
  13  Pen             -0.935         0.843          -1.861         0              0              0              35
  14  CellPhone       -0.901         1.349          -2.074         0              0              0              38
  15  TennisRacket    -1.667         0.0            0.818          90             29.999         0              Floor|-00.16|
  16  Laptop          0.300          0.643          -0.120         0              0              0              22
  17  Pencil          0.101          0.148          -2.080         0              90             0              25
  18  KeyChain        1.639          0.374          -1.045         0              90             0              28
  19  CreditCard      1.592          0.082          -0.816         0              90             0              29
  20  CD              -0.935         0.837          -2.077         0              0              0              35
  21  Mirror          0.883          1.582          -2.399         0              180            0
  22  Bed             1.176          -0.002         0.238          0              90             0
  23  LightSwitch     1.899          1.297          -1.302         0              270            0
  24  Poster          -1.927         1.411          -1.455         90             90             0
  25  GarbageCan      0.128          -0.030         -2.146         0              90             0
  26  Window          -2.028         1.388          -0.270         90             270            0
  27  DeskLamp        -1.673         1.774          -2.190         0              0              0
  28  Drawer          1.624          0.453          -0.987         0              270            0
  29  Drawer          1.624          0.163          -0.987         0              270            0
  30  SideTable       1.691          0.002          -0.988         0              270            0
  31  Chair           -1.089         0.009          -1.570         0              166.824        0
  32  Blinds          -1.949         2.158          -0.252         0              90             0
  33  Cabinet         -0.241         1.534          -2.101         0              0              0
  34  Cabinet         -1.301         1.534          -2.101         0              0              0
  35  Desk            -0.962         0.003          -1.942         0              0              0
  36  Cabinet         -1.683         1.534          -2.101         0              0              0
  37  Cabinet         -0.623         1.534          -2.101         0              0              0
  38  Shelf           -0.962         1.534          -2.101         0              0              0
  39  NorthWall
  40  EastWall
  41  SouthWall
  42  WestWall

Plan:
STEP 1: Turn left, move past the bed, then move to the center of the desk in the corner of the room, and then turn left to face the desk. | STEP 2: Pick up the blue pen in front of the CD from the desk. | STEP 3: Move to the left side of the desk near the black rubbish bin and then face the shelf above the desk. | STEP 4: Place the pen in front of the white smartphone on the shelf above the desk. | END