Task: Get two pens from the table, put them 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           -1.0           0.901          1.0            0              270            0
   1  CellPhone       -1.780         0.541          -0.971         0              0              0              24
   2  Pen             1.589          0.717          0.796          0              270            0              43
   3  Pen             -1.617         0.679          0.919          0              0              0              40
   4  Pencil          1.408          0.715          0.796          0              270            0              43
   5  KeyChain        1.679          0.711          0.990          0              270            0              43
   6  Laptop          1.408          0.709          0.990          0              270            0              43
   7  Laptop          -0.583         0.538          -0.549         0              0              0              24
   8  AlarmClock      1.318          0.711          0.215          0              270            0              43
   9  AlarmClock      1.498          0.711          0.602          0              270            0              43
  10  Book            -1.062         0.540          -0.690         0              0              0              24
  11  AlarmClock      -1.683         0.673          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             -1.947         0.681          1.493          0              90             0              40
  16  Pencil          -1.629         0.644          0.526          0              180            0              40
  17  KeyChain        -1.881         0.673          1.062          0              0              0              40
  18  CreditCard      -1.629         0.641          0.057          0              180            0              40
  19  Laptop          -1.786         0.634          0.206          0              159.517        0              40
  20  CellPhone       0.789          0.685          -1.705         0              0              0              32
  21  Pillow          -1.062         0.618          -0.971         0              0              0              24
  22  CD              -1.815         0.672          1.493          0              0              0              40
  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: Turn right, go forward, turn left at the wall | STEP 2: Pick up the pen on the right side of the desk | STEP 3: Turn around, go forward a bit, turn around | STEP 4: Put the pen on the bottom shelf  | STEP 5: Go to the desk | STEP 6: Pick up the pen in the middle of the desk | STEP 7: Turn around, go forward a bit, turn around | STEP 8: Put the pen on the bottom shelf  | END