Task: Put the pen on the wooden 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          0.902          -0.75          0              90             0
   1  Statue          0.553          0.838          -2.414         0              0              0              42
   2  Statue          0.959          0.838          -2.414         0              0              0              42
   3  CD              -0.503         0.427          -1.724         0              0              0              44
   4  CellPhone       -0.016         0.730          1.497          0              0              0              28
   5  CellPhone       2.461          0.191          0.046          0              90             0              55
   6  Pen             2.394          0.827          -0.134         0              270            0              58
   7  Pen             2.703          0.820          0.812          0              90             0              58
   8  Pen             2.507          0.359          0.444          0              0              0              51
   9  Pencil          -1.043         0.711          -1.724         0              0              0              38
  10  CreditCard      2.601          0.353          0.531          0              0              0              57
  11  KeyChain        2.765          0.822          -0.324         0              270            0              58
  12  KeyChain        2.507          0.355          0.793          0              0              0              57
  13  AlarmClock      2.394          0.821          0.623          0              270            0              58
  14  Box             0.252          0.227          -2.042         0              29.078         0
  15  Book            -0.016         0.730          1.762          0              0              0              28
  16  Statue          2.517          0.825          -0.134         0              270            0              58
  17  CellPhone       2.461          0.191          0.706          0              90             0              57
  18  Pillow          -0.209         0.809          1.232          0              0              0              28
  19  Pillow          -0.441         0.738          1.64           0              348.951        0              28
  20  BasketBall      -1.231         0.121          -0.18          0              0              0
  21  CreditCard      2.647          0.033          0.793          0              0              0              56
  22  KeyChain        2.765          0.820          0.623          0              270            0              58
  23  Pencil          -0.325         0.049          -1.752         0              0              0              41
  24  AlarmClock      2.579          0.821          0.623          0              270            0              58
  25  Laptop          0.176          0.729          0.702          0              0              0              28
  26  CD              2.394          0.821          0.812          0              270            0              58
  27  Pen             2.641          0.827          0.244          0              270            0              58
  28  Bed             -0.209         -0.001         0.983          0              0              0
  29  LightSwitch     0.778          1.266          2.128          0              180            0
  30  GarbageCan      -1.357         -0.020         -0.928         0              0              0
  31  Painting        2.063          1.674          -1.865         83.723         0              0
  32  HousePlant      -0.808         0.953          -1.730         0              0              0
  33  Painting        1.871          0.393          -1.792         79.235         0              0
  34  Mirror          2.842          1.404          1.375          0              90             0
  35  DeskLamp        2.676          0.819          0.878          0              0              0
  36  Window          -1.700         1.444          -0.542         90             90             0
  37  Window          0.535          1.412          -2.618         90             0              0
  38  Shelf           -0.904         0.824          -1.754         0              0              0
  39  Shelf           -0.802         0.981          -1.756         0              0              0
  40  Shelf           -0.904         0.555          -1.754         0              0              0
  41  Shelf           -0.327         0.225          -1.754         0              0              0
  42  Shelf           -0.439         0.822          -1.754         0              0              0
  43  Shelf           -0.619         0.981          -1.754         0              0              0
  44  Shelf           -0.439         0.556          -1.754         0              0              0
  45  Shelf           -0.709         0.225          -1.754         0              0              0
  46  ShelvingUnit    -0.641         0.006          -1.745         0              0              0
  47  Stool           0.799          0.004          -2.105         0              0              0
  48  Blinds          0.542          2.135          -2.553         0              0              0
  49  Blinds          -1.645         2.145          -0.546         0              90             0
  50  Drawer          2.518          0.574          0.623          0              270            0
  51  Drawer          2.517          0.411          0.623          0              270            0
  52  Drawer          2.518          0.732          0.623          0              270            0
  53  Drawer          2.518          0.732          -0.119         0              270            0
  54  Drawer          2.517          0.411          -0.119         0              270            0
  55  Drawer          2.517          0.247          -0.119         0              270            0
  56  Drawer          2.517          0.090          0.623          0              270            0
  57  Drawer          2.517          0.247          0.623          0              270            0
  58  Dresser         2.555          0.003          0.252          0              270            0
  59  Drawer          2.518          0.574          -0.119         0              270            0
  60  Drawer          2.517          0.090          -0.119         0              270            0
  61  NorthWall
  62  EastWall
  63  SouthWall
  64  WestWall

Plan:
STEP 1: Walk forward past the bed to the wooden dresser | STEP 2: Pick up the pen just right of the clock from the dresser | STEP 3: Turn around, walk forward a few feet, then turn left and face the small wooden shelf | STEP 4: Put the pen on the bottom left shelf | END