Task: Place two red pens in top drawer of brown cabinet

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.949          1.5            0              90             0
   1  Vase            1.950          0.993          -2.125         0              270            0              41
   2  CD              1.576          0.179          -1.786         0              270            0              38
   3  CD              -0.970         0.784          -0.548         0              0              0              62
   4  CellPhone       2.235          0.988          -2.212         0              270            0              41
   5  CellPhone       2.381          0.610          -0.172         0              0              0              26
   6  Pen             -0.970         0.789          -0.338         0              0              0              62
   7  Pen             3.087          0.993          -1.774         0              270            0              41
   8  Pen             -0.253         0.789          3.115          0              180            0              48
   9  CreditCard      -0.776         0.379          -0.476         0              0              0              61
  10  Book            2.803          0.985          -1.774         0              270            0              41
  11  AlarmClock      2.519          0.989          -1.774         0              270            0              41
  12  AlarmClock      -0.904         0.785          0.081          0              180            0              62
  13  Book            -0.772         0.785          -0.128         0              0              0              62
  14  KeyChain        0.117          1.109          3.226          0              270            0              49
  15  CreditCard      1.666          0.988          -2.212         0              270            0              41
  16  Pen             1.666          0.993          -1.950         0              270            0              41
  17  Pencil          3.300          0.727          1.352          0              180            0              66
  18  Laptop          1.888          0.607          0.068          0              0              0              26
  19  Vase            3.377          0.728          1.443          0              180            0              66
  20  AlarmClock      2.234          0.989          -1.862         0              270            0              41
  21  Pillow          2.052          0.674          0.549          0              0              0              26
  22  Pillow          1.966          0.631          1.226          0              0              0              26
  23  CellPhone       3.222          0.723          1.488          0              180            0              66
  24  CD              3.087          0.987          -2.125         0              270            0              41
  25  Vase            2.370          0.184          -1.786         0              270            0              43
  26  Bed             2.217          0.050          0.585          0              0              0
  27  GarbageCan      -0.978         0.048          -1.172         0              0              0
  28  Painting        2.990          1.592          1.567          90             0              0
  29  Painting        1.524          1.592          1.567          90             0              0
  30  Mirror          -1.190         1.417          -0.223         0              270            0
  31  LightSwitch     0.709          1.332          1.636          0              180            0
  32  Window          -2.629         1.460          2.891          90             270            0
  33  Window          -2.629         1.460          4.084          90             270            0
  34  DeskLamp        3.589          0.717          1.408          0              0              0
  35  Drawer          2.490          0.949          -1.703         0              0              0
  36  Cabinet         2.226          0.547          -1.615         0              0              0
  37  Drawer          1.975          0.949          -1.703         0              0              0
  38  Cabinet         1.207          0.547          -1.615         0              0              0
  39  Drawer          1.457          0.949          -1.703         0              0              0
  40  Cabinet         3.260          0.547          -1.615         0              0              0
  41  Dresser         2.234          0.048          -1.950         0              0              0
  42  Drawer          3.011          0.949          -1.703         0              0              0
  43  Cabinet         2.241          0.547          -1.615         0              0              0
  44  Shelf           -0.163         1.461          3.219          0              180            0
  45  Drawer          -0.161         0.242          3.166          0              180            0
  46  ShelvingUnit    -0.161         0.050          3.212          0              180            0
  47  Drawer          -0.161         0.562          3.168          0              180            0
  48  Shelf           -0.162         0.922          3.164          0              180            0
  49  Shelf           -0.162         1.241          3.163          0              180            0
  50  Blinds          -2.550         2.486          2.911          0              90             0
  51  Blinds          -2.550         2.486          4.107          0              90             0
  52  Drawer          -0.833         0.217          -0.336         0              90             0
  53  Drawer          -0.833         0.217          0.486          0              90             0
  54  Drawer          -0.833         0.628          -0.747         0              90             0
  55  Drawer          -0.833         0.217          0.075          0              90             0
  56  Drawer          -0.833         0.628          0.486          0              90             0
  57  Drawer          -0.833         0.217          -0.747         0              90             0
  58  Drawer          -0.833         0.423          -0.336         0              90             0
  59  Drawer          -0.833         0.423          0.075          0              90             0
  60  Drawer          -0.833         0.423          0.486          0              90             0
  61  Drawer          -0.833         0.423          -0.747         0              90             0
  62  Dresser         -0.934         0.050          -0.129         0              90             0
  63  Drawer          -0.833         0.628          0.075          0              90             0
  64  Drawer          -0.833         0.628          -0.336         0              90             0
  65  Drawer          3.454          0.212          1.262          0              180            0
  66  SideTable       3.455          0.046          1.328          0              180            0
  67  Drawer          3.454          0.504          1.262          0              180            0
  68  NorthWall
  69  EastWall
  70  SouthWall
  71  WestWall

Plan:
STEP 1: go to black dresser on the left | STEP 2: pick up red pen to right of CD | STEP 3: go to left side of brown cabinet on the right  | STEP 4: open top drawer below red pen on shelf of cabinet, place red pen in drawer, close drawer | STEP 5: face the front of brown cabinet | STEP 6: pick up red pen from cabinet shelf | STEP 7: go to left side of brown cabinet | STEP 8: place red pen in cabinet, close drawer | END