Task: To move a pen from the top shelf to the second shelf.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.900          0.75           0              270            0
   1  TissueBox       1.480          0.490          -0.534         0              270            0              39
   2  TissueBox       0.987          0.705          -1.326         0              180            0              46
   3  CD              0.494          0.701          -1.521         0              180            0              46
   4  CellPhone       0.433          0.500          -1.479         0              180            0              47
   5  CellPhone       -0.028         0.084          -1.585         0              180            0              42
   6  Pencil          0.387          0.292          -1.372         0              180            0              44
   7  Pencil          1.600          0.712          -0.623         0              0              0              38
   8  Pencil          0.018          0.085          -1.425         0              180            0              42
   9  Book            -1.777         0.527          0.648          0              0              0              29
  10  KeyChain        -0.120         0.289          -1.585         0              180            0              45
  11  Pillow          -1.483         0.598          -0.326         0              0              0              29
  12  Box             1.537          1.652          0.692          0              0              0              32
  13  Book            -1.630         0.527          -0.814         0              0              0              29
  14  AlarmClock      0.248          0.702          -1.619         0              180            0              46
  15  CellPhone       -1.777         0.530          0.404          0              0              0              29
  16  TissueBox       0.002          0.705          -1.326         0              180            0              46
  17  TeddyBear       -2.204         0.500          0.181          355.000        297.467        9.162          29
  18  CreditCard      0.987          0.701          -1.814         0              180            0              46
  19  KeyChain        1.541          0.489          -0.324         0              270            0              39
  20  BaseballBat     -2.202         0.04           -1.343         0              45             90             Floor|+00.00|
  21  TennisRacket    -2.254         0.324          -1.806         15.000         180            180            Floor|+00.00|
  22  Pillow          -1.630         0.598          0.160          0              0              0              29
  23  Laptop          -2.070         0.525          -0.570         0              0              0              29
  24  CD              0.295          0.080          -1.372         0              180            0              42
  25  Pen             1.600          0.714          -0.385         0              0              0              38
  26  Pencil          0.341          0.293          -1.532         0              180            0              44
  27  Mug             1.524          0.706          -0.703         0              0              0              38
  28  Mirror          -0.689         1.495          0.954          0              0              0
  29  Bed             -1.742         0.000          -0.071         0              0              0
  30  Chair           0.891          -0.001         -1.251         0              175.104        0
  31  GarbageCan      -0.606         -0.021         0.799          0              0              0
  32  ShelvingUnit    1.550          1.402          0.374          0              270            0
  33  Painting        -2.401         1.700          -0.859         90             90             0
  34  DeskLamp        1.291          0.699          -1.717         0              0              0
  35  LightSwitch     0.231          1.287          0.954          0              180            0
  36  HousePlant      1.488          1.394          0.035          0              122.291        0
  37  Window          0.046          1.559          -2.079         90             180            0
  38  SideTable       1.561          0.000          -0.465         0              270            0
  39  Shelf           1.541          0.493          -0.475         0              270            0
  40  Blinds          0.007          2.152          -2.014         0              0              0
  41  Drawer          -0.156         0.547          -1.430         0              0              0
  42  Drawer          0.270          0.159          -1.430         0              0              0
  43  Drawer          -0.156         0.159          -1.430         0              0              0
  44  Drawer          0.270          0.353          -1.430         0              0              0
  45  Drawer          -0.156         0.353          -1.430         0              0              0
  46  Desk            0.634          0.002          -1.557         0              0              0
  47  Drawer          0.270          0.547          -1.430         0              0              0
  48  Shelf           1.406          0.571          -1.514         0              0              0
  49  Shelf           1.406          0.183          -1.514         0              0              0
  50  Shelf           1.584          0.183          -1.514         0              0              0
  51  Shelf           1.406          0.377          -1.514         0              0              0
  52  Shelf           1.584          0.377          -1.514         0              0              0
  53  Shelf           1.584          0.571          -1.514         0              0              0
  54  NorthWall
  55  EastWall
  56  SouthWall
  57  WestWall

Plan:
STEP 1: Turn left, turn left at the desk, walk to the small shelf.  | STEP 2: Pick up the pen to the left of the white mug.  | STEP 3: Move further back from the shelf.  | STEP 4: Put the pen down on the second shelf to the left of the tissues.  | END