Task: move pen from dresser to a bowl on a 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              90             0
   1  Vase            -1.730         1.147          -2.073         0              90             0              42
   2  CD              -1.636         1.145          -1.731         0              90             0              42
   3  CellPhone       -1.721         0.410          -0.351         0              0              0              53
   4  Pen             -1.657         0.977          -0.540         0              0              0              47
   5  Pen             -1.657         0.977          -0.742         0              0              0              47
   6  Pencil          2.360          0.686          -1.762         0              0              0              60
   7  CreditCard      2.410          0.451          1.841          0              90             0              63
   8  CreditCard      2.221          0.432          1.589          0              90             0              63
   9  KeyChain        -1.699         1.639          -2.415         0              270            0              41
  10  KeyChain        -1.730         0.973          -0.540         0              0              0              47
  11  Book            -1.664         0.216          -0.722         0              0              0              55
  12  AlarmClock      2.205          0.680          -1.671         0              270            0              60
  13  Book            -1.494         0.799          -0.536         0              0              0              48
  14  KeyChain        2.128          0.434          1.590          0              90             0              63
  15  AlarmClock      -1.699         1.637          -2.073         0              90             0              41
  16  Pillow          0.296          0.836          0.188          0              0              0              29
  17  Pillow          0.652          0.794          -1.531         0              0              0              29
  18  Vase            -1.804         0.971          -0.339         0              0              0              47
  19  Laptop          -1.628         0.965          0.084          0              104.999        0              47
  20  Vase            1.731          0.686          2.262          0              0              0              57
  21  Pencil          -1.636         1.151          -1.959         0              90             0              42
  22  CreditCard      -1.436         0.972          -0.339         0              0              0              47
  23  Boots           -1.842         0.000          -1.077         0              135            0
  24  Pen             1.653          0.686          2.082          0              0              0              57
  25  CellPhone       -1.436         0.971          -0.540         0              0              0              47
  26  CD              -1.663         0.800          -0.536         0              0              0              48
  27  Bowl            -1.684         1.135          -2.300         0              346.900        0              42
  28  Statue          -1.764         0.965          -0.758         0              59.718         0              47
  29  Bed             1.017          0.003          -0.686         0              180            0
  30  HousePlant      -1.749         0.971          0.463          0              0              0
  31  GarbageCan      -1.665         -0.000         0.953          0              45             0
  32  Painting        0.381          1.976          -1.895         90             0              0
  33  Painting        0.879          1.976          -1.895         90             0              0
  34  Painting        1.373          1.976          -1.895         90             0              0
  35  LightSwitch     -0.164         1.085          2.450          0              180            0
  36  Mirror          -1.950         1.735          -0.206         0              270            0
  37  Window          -1.098         1.570          -3.230         90             0              0
  38  DeskLamp        1.404          0.668          2.209          0              0              0
  39  DeskLamp        2.596          0.668          -1.710         0              0              0
  40  Blinds          -1.062         2.361          -3.173         0              0              0
  41  Shelf           -1.675         1.871          -2.053         0              90             0
  42  Shelf           -1.675         1.383          -2.053         0              90             0
  43  Drawer          -1.715         0.832          -2.053         0              90             0
  44  ShelvingUnit    -1.723         0.007          -2.053         0              90             0
  45  Drawer          -1.713         0.339          -2.053         0              90             0
  46  Drawer          -1.629         0.104          0.243          0              90             0
  47  Dresser         -1.674         0.000          -0.153         0              90             0
  48  Drawer          -1.630         0.868          -0.550         0              90             0
  49  Drawer          -1.630         0.680          0.243          0              90             0
  50  Drawer          -1.629         0.104          -0.550         0              90             0
  51  Drawer          -1.630         0.680          -0.550         0              90             0
  52  Drawer          -1.630         0.868          0.243          0              90             0
  53  Drawer          -1.629         0.486          -0.550         0              90             0
  54  Drawer          -1.629         0.291          0.243          0              90             0
  55  Drawer          -1.629         0.291          -0.550         0              90             0
  56  Drawer          -1.630         0.486          0.243          0              90             0
  57  SideTable       1.576          -0.001         2.137          0              180            0
  58  Drawer          1.576          0.163          2.070          0              180            0
  59  Drawer          1.576          0.455          2.070          0              180            0
  60  SideTable       2.437          -0.001         -1.603         0              0              0
  61  Drawer          2.438          0.163          -1.536         0              0              0
  62  Drawer          2.438          0.455          -1.536         0              0              0
  63  ArmChair        2.393          -0.001         1.943          0              180            0
  64  NorthWall
  65  EastWall
  66  SouthWall
  67  WestWall

Plan:
STEP 1: turn left, take a step, turn left, walk towards the wall, turn right to face the side of the dresser | STEP 2: pick up one of the pens that is on the dresser | STEP 3: turn right, take a step, turn right, walk forward, turn right to face the shelf | STEP 4: put the pen in to the bowl that is on the shelf | END