Task: move pen from desk to shelf

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.5            0.902          -0.25          0              180            0
   1  CellPhone       -0.788         0.730          1.497          0              0              0              20
   2  Pencil          2.554          0.357          0.133          0              0              0              46
   3  CreditCard      -0.812         0.708          -1.668         0              0              0              34
   4  KeyChain        -0.578         0.966          -1.696         0              0              0              34
   5  KeyChain        2.703          0.820          0.244          0              270            0              50
   6  Box             0.252          0.227          -2.042         0              29.078         0
   7  Book            -0.209         0.730          0.437          0              0              0              20
   8  Statue          2.703          0.827          0.433          0              270            0              50
   9  CellPhone       2.554          0.519          -0.215         0              0              0              51
  10  Pillow          0.148          0.744          1.738          0              195.270        0              20
  11  Pillow          -0.441         0.738          1.64           0              348.951        0              20
  12  BasketBall      -1.231         0.121          -0.18          0              0              0
  13  CreditCard      2.517          0.819          0.812          0              270            0              50
  14  KeyChain        2.554          0.355          0.880          0              0              0              49
  15  Pencil          -0.858         0.430          -1.668         0              0              0              32
  16  AlarmClock      2.703          0.819          0.054          0              270            0              50
  17  Laptop          0.176          0.729          0.967          0              0              0              20
  18  CD              2.579          0.821          -0.324         0              270            0              50
  19  Pen             2.394          0.827          -0.324         0              270            0              50
  20  Bed             -0.209         -0.001         0.983          0              0              0
  21  LightSwitch     0.778          1.266          2.128          0              180            0
  22  GarbageCan      -1.357         -0.020         -0.928         0              0              0
  23  Painting        2.063          1.674          -1.865         83.723         0              0
  24  HousePlant      -0.808         0.953          -1.730         0              0              0
  25  Painting        1.871          0.393          -1.792         79.235         0              0
  26  Mirror          2.842          1.404          1.375          0              90             0
  27  DeskLamp        2.676          0.819          0.878          0              0              0
  28  Window          -1.700         1.444          -0.542         90             90             0
  29  Window          0.535          1.412          -2.618         90             0              0
  30  Shelf           -0.904         0.824          -1.754         0              0              0
  31  Shelf           -0.802         0.981          -1.756         0              0              0
  32  Shelf           -0.904         0.555          -1.754         0              0              0
  33  Shelf           -0.327         0.225          -1.754         0              0              0
  34  Shelf           -0.439         0.822          -1.754         0              0              0
  35  Shelf           -0.619         0.981          -1.754         0              0              0
  36  Shelf           -0.439         0.556          -1.754         0              0              0
  37  Shelf           -0.709         0.225          -1.754         0              0              0
  38  ShelvingUnit    -0.641         0.006          -1.745         0              0              0
  39  Stool           0.799          0.004          -2.105         0              0              0
  40  Blinds          0.542          2.135          -2.553         0              0              0
  41  Blinds          -1.645         2.145          -0.546         0              90             0
  42  Drawer          2.518          0.574          0.623          0              270            0
  43  Drawer          2.517          0.411          0.623          0              270            0
  44  Drawer          2.518          0.732          0.623          0              270            0
  45  Drawer          2.518          0.732          -0.119         0              270            0
  46  Drawer          2.517          0.411          -0.119         0              270            0
  47  Drawer          2.517          0.247          -0.119         0              270            0
  48  Drawer          2.517          0.090          0.623          0              270            0
  49  Drawer          2.517          0.247          0.623          0              270            0
  50  Dresser         2.555          0.003          0.252          0              270            0
  51  Drawer          2.518          0.574          -0.119         0              270            0
  52  Drawer          2.517          0.090          -0.119         0              270            0
  53  NorthWall
  54  EastWall
  55  SouthWall
  56  WestWall

Plan:
STEP 1: turn left, walk to the dresser | STEP 2: pick up the pen that is on the dresser | STEP 3: turn around, walk forward, turn left | STEP 4: put the pen on the bottom shelf of the shelves in front of you | END