Task: Put two pens on the 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           0.901          -0.25          0              0              0
   1  CD              -1.881         0.672          0.919          0              0              0              40
   2  CellPhone       -1.875         1.072          1.067          0              270            0              39
   3  Pen             1.769          0.717          0.602          0              270            0              43
   4  Pencil          1.318          0.715          0.215          0              270            0              43
   5  CreditCard      -1.683         0.673          0.919          0              0              0              40
   6  CreditCard      -1.881         0.675          1.349          0              0              0              40
   7  Book            -0.344         0.540          -0.830         0              0              0              24
   8  Book            -1.062         0.540          -0.690         0              0              0              24
   9  AlarmClock      0.505          0.684          -1.622         0              0              0              32
  10  Book            1.318          0.711          0.602          0              270            0              43
  11  AlarmClock      -1.683         0.675          1.206          0              0              0              40
  12  BasketBall      1.510          0.120          -0.105         0              0              0
  13  TeddyBear       -1.7           0.475          -0.331         0              225            0              24
  14  TennisRacket    1.551          0.000          0.654          270            336.082        0
  15  Pen             -1.815         0.681          1.062          0              0              0              40
  16  Pencil          1.769          0.715          0.022          0              270            0              43
  17  KeyChain        -1.845         1.071          1.634          0              270            0              39
  18  CreditCard      0.222          0.684          -1.663         0              0              0              32
  19  Laptop          -1.786         0.634          0.206          0              159.517        0              40
  20  CellPhone       -0.344         0.541          -0.408         0              0              0              24
  21  Pillow          -1.757         0.569          -0.768         0              285.000        0              24
  22  CD              -1.875         1.071          1.351          0              270            0              39
  23  Curtains        1.865          2.039          -0.495         0              0              0
  24  Bed             -1.037         0.009          -0.690         0              270            0
  25  Mirror          0.549          1.494          1.880          0              0              0
  26  Curtains        0.486          2.035          -1.853         0              90             0
  27  GarbageCan      1.683          -0.018         1.670          0              270            0
  28  LightSwitch     -0.119         1.317          1.853          0              180            0
  29  DeskLamp        -1.845         1.057          0.756          0              0              0
  30  Window          1.932          1.409          -0.507         90             270            0
  31  Window          0.481          1.411          -1.932         90             0              0
  32  SideTable       0.626          0.0            -1.705         0              0              0
  33  Footstool       0.176          0.006          -0.358         0              0              0
  34  Dumbbell        1.596          0.715          0.772          0              0              0
  35  Dumbbell        1.776          0.717          0.772          0              0              0
  36  Shelf           -1.700         0.573          1.540          0              90             0
  37  Shelf           -1.700         0.156          1.540          0              90             0
  38  Shelf           -1.700         0.377          1.540          0              90             0
  39  Shelf           -1.839         1.084          1.235          0              90             0
  40  Desk            -1.722         0.003          0.920          0              90             0
  41  Footstool       0.175          0.004          -0.652         0              0              0
  42  GarbageBag      1.624          0.319          -1.609         270            90             83.418
  43  Desk            1.519          1.823          0.385          0              270            0
  44  Chair           -1.459         0.003          0.929          0              292.527        0
  45  NorthWall
  46  EastWall
  47  WestWall

Plan:
STEP 1: Go forward toward the door, then turn left to go to the desk. | STEP 2: Pick up the pen on the desk, to the left of the clock. | STEP 3: Turn around, move right, then turn around to face the desk. | STEP 4: Put the pen on the bottom shelf of the desk, to the right of the chair. | STEP 5: Turn around and go to the table behind you. | STEP 6: Pick up the pen on the table, behind the book. | STEP 7: Turn around, and go forward to return to the desk. | STEP 8: Put the pen on the bottom shelf of the desk, next to the other pen. | END