Task: Place a pen 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           0.900          0.0            0              180            0
   1  Vase            -1.509         0.973          -0.138         0              0              0              45
   2  CellPhone       -1.436         0.971          -0.339         0              0              0              45
   3  CellPhone       2.225          0.441          1.843          0              90             0              61
   4  Pen             -1.774         0.058          0.873          0              54.373         0              29
   5  Pencil          1.731          0.686          2.217          0              0              0              55
   6  CreditCard      -1.668         1.146          -2.415         0              90             0              40
   7  CreditCard      -1.699         1.637          -2.073         0              90             0              39
   8  KeyChain        -1.668         1.147          -1.959         0              90             0              40
   9  KeyChain        -1.608         0.606          -0.813         0              0              0              49
  10  Laptop          1.743          0.773          -0.695         0              0              0              27
  11  Book            0.537          0.774          -0.990         0              0              0              27
  12  KeyChain        2.597          0.438          1.923          0              90             0              61
  13  AlarmClock      -1.699         1.637          -2.301         0              90             0              39
  14  Pillow          1.413          0.794          -1.505         0              0              0              27
  15  Pillow          0.652          0.794          -1.531         0              0              0              27
  16  Vase            2.437          0.681          -1.717         0              0              0              58
  17  Laptop          1.261          0.773          -0.695         0              0              0              27
  18  Vase            -1.509         0.975          -0.742         0              0              0              45
  19  Pencil          1.576          0.686          2.217          0              0              0              55
  20  CreditCard      2.515          0.680          -1.536         0              0              0              58
  21  Boots           -1.842         0.000          -1.077         0              135            0
  22  Pen             1.731          0.686          2.082          0              0              0              55
  23  CellPhone       -1.720         0.218          -0.722         0              0              0              53
  24  CD              -1.804         0.971          0.062          0              0              0              45
  25  Bowl            -1.657         0.972          -0.339         0              0              0              45
  26  Statue          -1.764         0.965          -0.758         0              59.718         0              45
  27  Bed             1.017          0.003          -0.686         0              180            0
  28  HousePlant      -1.749         0.971          0.463          0              0              0
  29  GarbageCan      -1.665         -0.000         0.953          0              45             0
  30  Painting        0.381          1.976          -1.895         90             0              0
  31  Painting        0.879          1.976          -1.895         90             0              0
  32  Painting        1.373          1.976          -1.895         90             0              0
  33  LightSwitch     -0.164         1.085          2.450          0              180            0
  34  Mirror          -1.950         1.735          -0.206         0              270            0
  35  Window          -1.098         1.570          -3.230         90             0              0
  36  DeskLamp        1.404          0.668          2.209          0              0              0
  37  DeskLamp        2.596          0.668          -1.710         0              0              0
  38  Blinds          -1.062         2.361          -3.173         0              0              0
  39  Shelf           -1.675         1.871          -2.053         0              90             0
  40  Shelf           -1.675         1.383          -2.053         0              90             0
  41  Drawer          -1.715         0.832          -2.053         0              90             0
  42  ShelvingUnit    -1.723         0.007          -2.053         0              90             0
  43  Drawer          -1.713         0.339          -2.053         0              90             0
  44  Drawer          -1.629         0.104          0.243          0              90             0
  45  Dresser         -1.674         0.000          -0.153         0              90             0
  46  Drawer          -1.630         0.868          -0.550         0              90             0
  47  Drawer          -1.630         0.680          0.243          0              90             0
  48  Drawer          -1.629         0.104          -0.550         0              90             0
  49  Drawer          -1.630         0.680          -0.550         0              90             0
  50  Drawer          -1.630         0.868          0.243          0              90             0
  51  Drawer          -1.629         0.486          -0.550         0              90             0
  52  Drawer          -1.629         0.291          0.243          0              90             0
  53  Drawer          -1.629         0.291          -0.550         0              90             0
  54  Drawer          -1.630         0.486          0.243          0              90             0
  55  SideTable       1.576          -0.001         2.137          0              180            0
  56  Drawer          1.576          0.163          2.070          0              180            0
  57  Drawer          1.576          0.455          2.070          0              180            0
  58  SideTable       2.437          -0.001         -1.603         0              0              0
  59  Drawer          2.438          0.163          -1.536         0              0              0
  60  Drawer          2.438          0.455          -1.536         0              0              0
  61  ArmChair        2.393          -0.001         1.943          0              180            0
  62  NorthWall
  63  EastWall
  64  SouthWall
  65  WestWall

Plan:
STEP 1: Turn around, hang a left at the end of the dresser and turn left at the wall to face the purple container on the floor. | STEP 2: Pick up the white pen from inside the purple container on the floor. | STEP 3: Turn left, hang a right around the dresser and turn left by the window to face the wooden shelf on a desk. | STEP 4: Put the pen in front of the blue credit card on the left side of the shelf on the desk. | END