Task: place two pens in the dresser drawer

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           3.75           0.949          -1.5           0              90             0
   1  Vase            2.803          0.993          -2.125         0              270            0              38
   2  CellPhone       0.024          0.784          3.170          0              180            0              45
   3  CellPhone       2.710          0.610          -0.172         0              0              0              23
   4  Pen             0.024          0.789          3.088          0              180            0              45
   5  Pencil          1.950          0.989          -1.862         0              270            0              38
   6  Pencil          3.455          0.727          1.262          0              180            0              63
   7  CreditCard      3.377          0.723          1.533          0              180            0              63
   8  CreditCard      3.087          0.985          -2.037         0              270            0              38
   9  Book            2.710          0.610          0.790          0              0              0              23
  10  Book            2.217          0.610          0.068          0              0              0              23
  11  KeyChain        0.091          0.477          3.192          0              90             0              44
  12  CreditCard      3.300          0.723          1.397          0              180            0              63
  13  Pen             2.234          0.990          -1.687         0              0              0              38
  14  Pencil          3.455          0.727          1.488          0              180            0              63
  15  Laptop          -0.904         0.783          0.081          0              0              0              59
  16  Vase            2.614          0.185          -1.950         0              270            0              40
  17  AlarmClock      -0.069         1.109          3.171          0              180            0              46
  18  Pillow          2.533          0.631          1.264          0              0              0              23
  19  Pillow          1.966          0.631          1.226          0              0              0              23
  20  CellPhone       2.052          0.610          0.308          0              0              0              23
  21  CD              3.300          0.723          1.307          0              180            0              63
  22  Vase            2.519          0.989          -2.037         0              270            0              38
  23  Bed             2.217          0.050          0.585          0              0              0
  24  GarbageCan      -0.978         0.048          -1.172         0              0              0
  25  Painting        2.990          1.592          1.567          90             0              0
  26  Painting        1.524          1.592          1.567          90             0              0
  27  Mirror          -1.190         1.417          -0.223         0              270            0
  28  LightSwitch     0.709          1.332          1.636          0              180            0
  29  Window          -2.629         1.460          2.891          90             270            0
  30  Window          -2.629         1.460          4.084          90             270            0
  31  DeskLamp        3.589          0.717          1.408          0              0              0
  32  Drawer          2.490          0.949          -1.703         0              0              0
  33  Cabinet         2.226          0.547          -1.615         0              0              0
  34  Drawer          1.975          0.949          -1.703         0              0              0
  35  Cabinet         1.207          0.547          -1.615         0              0              0
  36  Drawer          1.457          0.949          -1.703         0              0              0
  37  Cabinet         3.260          0.547          -1.615         0              0              0
  38  Dresser         2.234          0.048          -1.950         0              0              0
  39  Drawer          3.011          0.949          -1.703         0              0              0
  40  Cabinet         2.241          0.547          -1.615         0              0              0
  41  Shelf           -0.163         1.461          3.219          0              180            0
  42  Drawer          -0.161         0.242          3.166          0              180            0
  43  ShelvingUnit    -0.161         0.050          3.212          0              180            0
  44  Drawer          -0.161         0.562          3.168          0              180            0
  45  Shelf           -0.162         0.922          3.164          0              180            0
  46  Shelf           -0.162         1.241          3.163          0              180            0
  47  Blinds          -2.550         2.486          2.911          0              90             0
  48  Blinds          -2.550         2.486          4.107          0              90             0
  49  Drawer          -0.833         0.217          -0.336         0              90             0
  50  Drawer          -0.833         0.217          0.486          0              90             0
  51  Drawer          -0.833         0.628          -0.747         0              90             0
  52  Drawer          -0.833         0.217          0.075          0              90             0
  53  Drawer          -0.833         0.628          0.486          0              90             0
  54  Drawer          -0.833         0.217          -0.747         0              90             0
  55  Drawer          -0.833         0.423          -0.336         0              90             0
  56  Drawer          -0.833         0.423          0.075          0              90             0
  57  Drawer          -0.833         0.423          0.486          0              90             0
  58  Drawer          -0.833         0.423          -0.747         0              90             0
  59  Dresser         -0.934         0.050          -0.129         0              90             0
  60  Drawer          -0.833         0.628          0.075          0              90             0
  61  Drawer          -0.833         0.628          -0.336         0              90             0
  62  Drawer          3.454          0.212          1.262          0              180            0
  63  SideTable       3.455          0.046          1.328          0              180            0
  64  Drawer          3.454          0.504          1.262          0              180            0
  65  NorthWall
  66  EastWall
  67  SouthWall
  68  WestWall

Plan:
STEP 1: turn around and walk over to tall cabinet near the opposite corner of the room | STEP 2: grab the pen off of the cabinet | STEP 3: turn around and walk over to the dresser on the left side of the bed | STEP 4: put the pen inside the drawer second to the left of the top row | STEP 5: turn around and move over to the dresser at the foot of the bed | STEP 6: grab a pen off of the top of the dresser | STEP 7: move to the right and maneuver back over to the dresser ahead | STEP 8: place the pen in the same drawer the other pen was placed | END