Task: Put two pens 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           -1.0           0.901          1.25           0              270            0
   1  CellPhone       0.505          0.685          -1.663         0              0              0              31
   2  Pen             -1.828         0.646          0.448          0              270            0              39
   3  Pen             1.769          0.717          0.022          0              270            0              42
   4  KeyChain        0.789          0.684          -1.705         0              0              0              31
   5  Book            -1.683         0.672          1.206          0              0              0              39
   6  Book            -1.617         0.675          0.919          0              0              0              39
   7  Pillow          -1.301         0.618          -0.690         0              0              0              23
   8  Pillow          -0.344         0.618          -0.549         0              0              0              23
   9  Book            -1.681         0.506          1.581          0              270            0              35
  10  AlarmClock      0.363          0.684          -1.789         0              0              0              31
  11  BasketBall      1.510          0.120          -0.105         0              0              0
  12  TeddyBear       -1.7           0.475          -0.331         0              225            0              23
  13  TennisRacket    1.551          0.000          0.654          270            336.082        0
  14  Pen             1.589          0.717          0.990          0              270            0              42
  15  Pencil          1.408          0.715          0.022          0              270            0              42
  16  KeyChain        -1.575         0.287          1.715          0              270            0              37
  17  CreditCard      -1.875         1.071          0.926          0              270            0              38
  18  Laptop          -1.786         0.634          0.206          0              159.517        0              39
  19  CellPhone       -0.583         0.541          -0.267         0              0              0              23
  20  Pillow          -1.757         0.569          -0.768         0              285.000        0              23
  21  CD              1.589          0.711          0.796          0              270            0              42
  22  Curtains        1.865          2.039          -0.495         0              0              0
  23  Bed             -1.037         0.009          -0.690         0              270            0
  24  Mirror          0.549          1.494          1.880          0              0              0
  25  Curtains        0.486          2.035          -1.853         0              90             0
  26  GarbageCan      1.683          -0.018         1.670          0              270            0
  27  LightSwitch     -0.119         1.317          1.853          0              180            0
  28  DeskLamp        -1.845         1.057          0.756          0              0              0
  29  Window          1.932          1.409          -0.507         90             270            0
  30  Window          0.481          1.411          -1.932         90             0              0
  31  SideTable       0.626          0.0            -1.705         0              0              0
  32  Footstool       0.176          0.006          -0.358         0              0              0
  33  Dumbbell        1.596          0.715          0.772          0              0              0
  34  Dumbbell        1.776          0.717          0.772          0              0              0
  35  Shelf           -1.700         0.573          1.540          0              90             0
  36  Shelf           -1.700         0.156          1.540          0              90             0
  37  Shelf           -1.700         0.377          1.540          0              90             0
  38  Shelf           -1.839         1.084          1.235          0              90             0
  39  Desk            -1.722         0.003          0.920          0              90             0
  40  Footstool       0.175          0.004          -0.652         0              0              0
  41  GarbageBag      1.624          0.319          -1.609         270            90             83.418
  42  Desk            1.519          1.823          0.385          0              270            0
  43  Chair           -1.459         0.003          0.929          0              292.527        0
  44  NorthWall
  45  EastWall
  46  WestWall

Plan:
STEP 1: Turn left and walk to the bed then turn left and walk to the table then turn right and walk past the table to your left and then turn left and walk to the window then turn left.. | STEP 2: Pick up the blue pen to the right of the table. | STEP 3: Turn left and walk to the bed then turn right and walk almost to the wall then turn left and walk to the desk. | STEP 4: Put the pen on the bottom shelf to the right of the chair. | STEP 5: Turn around and walk to the white table. | STEP 6: Pick up the blue pen. | STEP 7: Turn around and walk to the desk. | STEP 8: Put this pen on the other pen. | END