Task: Place a pen on the bottom 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            0.902          -0.75          0              90             0
   1  Statue          2.641          0.827          -0.134         0              270            0              55
   2  CellPhone       2.456          0.821          -0.134         0              180            0              55
   3  CellPhone       2.703          0.819          0.244          0              270            0              55
   4  Pen             2.394          0.825          -0.134         0              270            0              55
   5  Pencil          2.414          0.523          -0.041         0              0              0              56
   6  CreditCard      2.601          0.675          0.793          0              0              0              49
   7  KeyChain        2.647          0.521          0.880          0              0              0              49
   8  KeyChain        2.456          0.822          0.054          0              270            0              55
   9  Book            2.554          0.353          -0.215         0              0              0              51
  10  Book            -0.209         0.730          0.172          0              0              0              25
  11  Box             0.252          0.227          -2.042         0              29.078         0
  12  Book            0.369          0.730          0.172          0              0              0              25
  13  Statue          1.377          1.454          -1.758         0              0              0              39
  14  CellPhone       2.579          0.819          0.054          0              270            0              55
  15  Pillow          0.148          0.744          1.738          0              195.270        0              25
  16  Pillow          -0.441         0.738          1.64           0              348.951        0              25
  17  BasketBall      -1.231         0.121          -0.18          0              0              0
  18  CreditCard      2.517          0.819          0.433          0              270            0              55
  19  KeyChain        2.394          0.820          0.623          0              270            0              55
  20  Pencil          2.765          0.823          -0.134         0              270            0              55
  21  AlarmClock      0.282          0.832          -2.353         0              0              0              44
  22  Laptop          -0.016         0.729          0.967          0              0              0              25
  23  CD              2.601          0.034          0.793          0              0              0              53
  24  Pen             2.394          0.827          0.812          0              270            0              55
  25  Bed             -0.209         -0.001         0.983          0              0              0
  26  LightSwitch     0.778          1.266          2.128          0              180            0
  27  GarbageCan      -1.357         -0.020         -0.928         0              0              0
  28  Painting        2.063          1.674          -1.865         83.723         0              0
  29  HousePlant      -0.808         0.953          -1.730         0              0              0
  30  Painting        1.871          0.393          -1.792         79.235         0              0
  31  Mirror          2.842          1.404          1.375          0              90             0
  32  DeskLamp        2.676          0.819          0.878          0              0              0
  33  Window          -1.700         1.444          -0.542         90             90             0
  34  Window          0.535          1.412          -2.618         90             0              0
  35  Shelf           -0.904         0.824          -1.754         0              0              0
  36  Shelf           -0.802         0.981          -1.756         0              0              0
  37  Shelf           -0.904         0.555          -1.754         0              0              0
  38  Shelf           -0.327         0.225          -1.754         0              0              0
  39  Shelf           -0.439         0.822          -1.754         0              0              0
  40  Shelf           -0.619         0.981          -1.754         0              0              0
  41  Shelf           -0.439         0.556          -1.754         0              0              0
  42  Shelf           -0.709         0.225          -1.754         0              0              0
  43  ShelvingUnit    -0.641         0.006          -1.745         0              0              0
  44  Stool           0.799          0.004          -2.105         0              0              0
  45  Blinds          0.542          2.135          -2.553         0              0              0
  46  Blinds          -1.645         2.145          -0.546         0              90             0
  47  Drawer          2.518          0.574          0.623          0              270            0
  48  Drawer          2.517          0.411          0.623          0              270            0
  49  Drawer          2.518          0.732          0.623          0              270            0
  50  Drawer          2.518          0.732          -0.119         0              270            0
  51  Drawer          2.517          0.411          -0.119         0              270            0
  52  Drawer          2.517          0.247          -0.119         0              270            0
  53  Drawer          2.517          0.090          0.623          0              270            0
  54  Drawer          2.517          0.247          0.623          0              270            0
  55  Dresser         2.555          0.003          0.252          0              270            0
  56  Drawer          2.518          0.574          -0.119         0              270            0
  57  Drawer          2.517          0.090          -0.119         0              270            0
  58  NorthWall
  59  EastWall
  60  SouthWall
  61  WestWall

Plan:
STEP 1: take a few steps forward and turn to the left and take a few steps forward and turn to the right and go to the dresser | STEP 2: pick up the pen from the dresser | STEP 3: turn to the right and take a step forward and turn to the right and go to the middle of the bed and turn to the left and take one step | STEP 4: put the pen on the bottom shelf to the right. | END