Task: Gather both pens from the shelf and counter and put them on the nightstand to the left of the bed.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.900          -0.75          0              180            0
   1  Statue          -1.878         0.982          -0.540         0              90             0              47
   2  CD              2.408          0.435          1.671          0              90             0              63
   3  CD              1.731          0.680          2.217          0              0              0              57
   4  CellPhone       2.128          0.433          1.590          0              90             0              63
   5  Pen             -1.699         1.152          -2.187         0              180            0              42
   6  Pencil          -1.720         0.177          -1.763         0              0              0              45
   7  CreditCard      -1.664         0.605          -0.813         0              0              0              51
   8  KeyChain        -1.657         0.972          0.464          0              0              0              47
   9  KeyChain        -1.720         0.219          -0.815         0              90             0              55
  10  Book            0.296          0.774          -1.284         0              0              0              29
  11  Laptop          1.502          0.773          -0.695         0              0              0              29
  12  Laptop          1.261          0.773          -0.106         0              0              0              29
  13  Book            2.593          0.432          1.668          0              90             0              63
  14  KeyChain        2.410          0.453          1.841          0              90             0              63
  15  AlarmClock      -1.699         1.637          -2.073         0              90             0              41
  16  Pillow          1.413          0.794          -1.505         0              0              0              29
  17  Pillow          0.296          0.836          -0.106         0              0              0              29
  18  Vase            -1.668         1.147          -2.073         0              90             0              42
  19  Laptop          -1.628         0.965          0.084          0              104.999        0              47
  20  Vase            -1.650         1.626          -2.316         0              0              0              41
  21  Pencil          -1.663         0.805          -0.817         0              270            0              48
  22  CreditCard      -1.878         0.972          0.062          0              0              0              47
  23  Boots           -1.842         0.000          -1.077         0              135            0
  24  Pen             -1.657         0.976          -0.742         0              0              0              47
  25  CellPhone       2.437          0.681          -1.671         0              0              0              60
  26  CD              2.134          0.439          2.014          0              90             0              63
  27  Bowl            -1.657         0.972          -0.540         0              0              0              47
  28  Statue          1.576          0.691          2.082          0              0              0              57
  29  Bed             1.017          0.003          -0.686         0              180            0
  30  HousePlant      -1.749         0.971          0.463          0              0              0
  31  GarbageCan      -1.665         -0.000         0.953          0              45             0
  32  Painting        0.381          1.976          -1.895         90             0              0
  33  Painting        0.879          1.976          -1.895         90             0              0
  34  Painting        1.373          1.976          -1.895         90             0              0
  35  LightSwitch     -0.164         1.085          2.450          0              180            0
  36  Mirror          -1.950         1.735          -0.206         0              270            0
  37  Window          -1.098         1.570          -3.230         90             0              0
  38  DeskLamp        1.404          0.668          2.209          0              0              0
  39  DeskLamp        2.596          0.668          -1.710         0              0              0
  40  Blinds          -1.062         2.361          -3.173         0              0              0
  41  Shelf           -1.675         1.871          -2.053         0              90             0
  42  Shelf           -1.675         1.383          -2.053         0              90             0
  43  Drawer          -1.715         0.832          -2.053         0              90             0
  44  ShelvingUnit    -1.723         0.007          -2.053         0              90             0
  45  Drawer          -1.713         0.339          -2.053         0              90             0
  46  Drawer          -1.629         0.104          0.243          0              90             0
  47  Dresser         -1.674         0.000          -0.153         0              90             0
  48  Drawer          -1.630         0.868          -0.550         0              90             0
  49  Drawer          -1.630         0.680          0.243          0              90             0
  50  Drawer          -1.629         0.104          -0.550         0              90             0
  51  Drawer          -1.630         0.680          -0.550         0              90             0
  52  Drawer          -1.630         0.868          0.243          0              90             0
  53  Drawer          -1.629         0.486          -0.550         0              90             0
  54  Drawer          -1.629         0.291          0.243          0              90             0
  55  Drawer          -1.629         0.291          -0.550         0              90             0
  56  Drawer          -1.630         0.486          0.243          0              90             0
  57  SideTable       1.576          -0.001         2.137          0              180            0
  58  Drawer          1.576          0.163          2.070          0              180            0
  59  Drawer          1.576          0.455          2.070          0              180            0
  60  SideTable       2.437          -0.001         -1.603         0              0              0
  61  Drawer          2.438          0.163          -1.536         0              0              0
  62  Drawer          2.438          0.455          -1.536         0              0              0
  63  ArmChair        2.393          -0.001         1.943          0              180            0
  64  NorthWall
  65  EastWall
  66  SouthWall
  67  WestWall

Plan:
STEP 1: Move forward to the window and turn to the right to face the dresser. | STEP 2: Pick up the pen from the shelf. | STEP 3: Turn to the right to move past the foot of the bed and turn right again to walk to the nightstand to the left of the bed. | STEP 4: Place the pen on the nightstand. | STEP 5: Face backwards, turn left, move forward past the end of the bed and turn right to face the counter to the right of the boots. | STEP 6: Pick up the pen from the end of the counter. | STEP 7: Move to the right past the end of the bed then turn to the right and walk to the nightstand. | STEP 8: Place the pen on the nightstand. | END