Task: To move two pens into the desk drawer.

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          -0.5           0              0              0
   1  CellPhone       -0.333         0.774          1.335          0              0              0              30
   2  CellPhone       -0.046         0.774          0.850          0              0              0              30
   3  Pen             1.467          0.829          -1.673         0              270            0              50
   4  Pen             0.355          0.817          -2.440         0              0              0              52
   5  Pen             0.459          0.818          -2.372         0              90             0              52
   6  Pencil          0.563          0.815          -2.440         0              0              0              52
   7  Pencil          -1.192         0.865          -2.498         0              180            0              59
   8  Book            -0.333         0.774          1.012          0              0              0              30
   9  RemoteControl   -0.061         0.813          -2.304         0              0              0              52
  10  RemoteControl   -1.319         0.089          -2.287         0              0              0              56
  11  Pillow          0.241          0.902          1.173          0              0              0              30
  12  AlarmClock      -1.594         0.862          -2.373         0              0              0              59
  13  Book            0.816          0.774          0.850          0              0              0              30
  14  Cloth           1.303          0.0            -0.696         0              303.212        0
  15  Cloth           1.273          0.0            -0.969         0              0              0
  16  CellPhone       -1.232         0.371          -2.363         0              0              0              57
  17  Pencil          0.146          0.815          -2.169         0              0              0              52
  18  Laptop          -0.046         0.772          1.819          0              0              0              30
  19  AlarmClock      -0.587         0.862          -2.248         0              0              0              59
  20  CreditCard      0.042          0.812          -2.236         0              0              0              52
  21  KeyChain        -1.319         0.372          -2.287         0              0              0              57
  22  TennisRacket    -1.704         0.345          1.743          345.000        90             180
  23  RemoteControl   -1.580         0.373          -2.363         0              0              0              57
  24  Pillow          1.073          0.876          1.326          0              262.063        0              30
  25  CD              1.521          0.817          -1.727         0              0              0              50
  26  CD              0.527          0.806          -2.485         0              0              0              52
  27  CD              1.357          0.151          -2.466         0              315            0              37
  28  Pen             0.146          0.817          -2.304         0              0              0              52
  29  Bowl            -0.674         0.855          -2.499         0              323.153        0              59
  30  Bed             0.270          0.001          1.331          0              90             0
  31  LaundryHamper   -1.329         0.001          1.829          0              180            0
  32  Television      -1.664         1.479          -0.912         0              90             0
  33  DeskLamp        0.049          0.815          -2.481         0              0              0
  34  LightSwitch     -1.799         1.213          0.680          0              90             0
  35  Painting        0.492          1.684          -2.629         90             0              0
  36  Poster          -1.799         1.690          -1.491         90             270            0
  37  GarbageCan      1.306          -0.001         -2.451         0              317.376        0
  38  Mirror          1.5            1.361          -0.542         0              90             0
  39  Window          1.721          1.365          -1.597         90             270            0
  40  Shelf           -1.605         0.435          -0.686         0              90             0
  41  Shelf           -1.613         1.154          -0.904         0              90             0
  42  ShelvingUnit    -1.611         0.005          -0.904         0              90             0
  43  Shelf           -1.605         0.719          -1.122         0              90             0
  44  Shelf           -1.605         0.435          -1.122         0              90             0
  45  Shelf           -1.605         1.006          -1.122         0              90             0
  46  Shelf           -1.605         0.148          -0.686         0              90             0
  47  Shelf           -1.605         0.149          -1.122         0              90             0
  48  Shelf           -1.605         1.006          -0.686         0              90             0
  49  Shelf           -1.605         0.719          -0.686         0              90             0
  50  SideTable       1.484          0.001          -1.481         0              270            0
  51  Blinds          1.699          2.096          -1.575         0              270            0
  52  Desk            0.244          0.004          -2.356         0              0              0
  53  Chair           -0.626         1.439          -2.199         0              171.006        0
  54  Chair           0.220          1.466          -2.214         0              188.269        0
  55  Shelf           -0.978         1.387          -2.479         0              0              0
  56  Drawer          -1.389         0.197          -2.261         0              0              0
  57  Drawer          -1.389         0.480          -2.261         0              0              0
  58  Drawer          -1.389         0.731          -2.261         0              0              0
  59  Desk            -0.973         1.162          -2.351         0              0              0
  60  NorthWall
  61  EastWall
  62  SouthWall
  63  WestWall

Plan:
STEP 1: Turn around and walk to the wooden desk on the left.  | STEP 2: Pick up the pen to the left of the lamp.  | STEP 3: Walk over to the desk on the right.  | STEP 4: Open the bottom drawer of the desk, put the pen inside the drawer, close the drawer.  | STEP 5: Walk back over to the small desk on the left.  | STEP 6: Pick up the pen to the left of the remote.  | STEP 7: Walk back over to the desk on the right.  | STEP 8: Open the bottom drawer, put the pen inside the drawer, close the drawer.  | END