Task: Put a pen 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          0.900          0.5            0              0              0
   1  CellPhone       -0.901         1.349          -2.222         0              0              0              43
   2  CellPhone       1.615          0.084          -0.930         0              90             0              44
   3  Pencil          1.639          0.377          -0.873         0              180            0              33
   4  Pencil          1.639          0.377          -0.816         0              180            0              33
   5  CreditCard      1.592          0.374          -0.988         0              90             0              33
   6  CreditCard      -1.396         1.777          -2.101         0              0              0              40
   7  KeyChain        1.626          0.681          -0.910         0              270            0              35
   8  Book            0.300          0.646          0.598          0              0              0              27
   9  Book            2.004          0.646          -0.299         0              0              0              27
  10  Box             -1.165         2.073          -2.041         0              0              0              40
  11  Pillow          1.152          0.739          0.598          0              0              0              27
  12  Book            -1.396         0.839          -2.185         0              0              0              40
  13  Box             -0.424         2.065          -2.027         0              352.503        0              40
  14  Pillow          1.720          0.739          0.059          0              0              0              27
  15  AlarmClock      -1.165         0.837          -1.645         0              0              0              40
  16  BasketBall      -0.337         0.120          1.031          0              0              0              Floor|-00.16|
  17  BaseballBat     -1.602         0.022          0.356          90             8.736          0              Floor|-00.16|
  18  Pen             -0.935         0.843          -1.645         0              0              0              40
  19  CellPhone       1.581          0.682          -1.142         0              270            0              35
  20  TennisRacket    -1.667         0.0            0.818          90             29.999         0              Floor|-00.16|
  21  Laptop          2.004          0.643          0.598          0              0              0              27
  22  Pencil          0.101          0.146          -2.196         0              90             0              30
  23  KeyChain        -0.705         1.777          -2.221         0              0              0              40
  24  CreditCard      -0.705         0.837          -1.645         0              0              0              40
  25  CD              1.762          0.680          -0.910         0              270            0              35
  26  Mirror          0.883          1.582          -2.399         0              180            0
  27  Bed             1.176          -0.002         0.238          0              90             0
  28  LightSwitch     1.899          1.297          -1.302         0              270            0
  29  Poster          -1.927         1.411          -1.455         90             90             0
  30  GarbageCan      0.128          -0.030         -2.146         0              90             0
  31  Window          -2.028         1.388          -0.270         90             270            0
  32  DeskLamp        -1.673         1.774          -2.190         0              0              0
  33  Drawer          1.624          0.453          -0.987         0              270            0
  34  Drawer          1.624          0.163          -0.987         0              270            0
  35  SideTable       1.691          0.002          -0.988         0              270            0
  36  Chair           -1.089         0.009          -1.570         0              166.824        0
  37  Blinds          -1.949         2.158          -0.252         0              90             0
  38  Cabinet         -0.241         1.534          -2.101         0              0              0
  39  Cabinet         -1.301         1.534          -2.101         0              0              0
  40  Desk            -0.962         0.003          -1.942         0              0              0
  41  Cabinet         -1.683         1.534          -2.101         0              0              0
  42  Cabinet         -0.623         1.534          -2.101         0              0              0
  43  Shelf           -0.962         1.534          -2.101         0              0              0
  44
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: Turn around and walk to the desk, | STEP 2: Pick up the pen that's in front of you. | STEP 3: Take a small step to your left. | STEP 4: Look up and put the pen on the shelf to the right of the cabinet in front of you. | END