Task: Put two pens in the first drawer of the dresser shelf.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.949          2.5            0              90             0
   1  CellPhone       2.444          0.887          -1.705         0              270            0              37
   2  Pen             -0.253         0.789          3.088          0              180            0              50
   3  Pen             1.950          0.993          -1.774         0              270            0              43
   4  Pen             2.519          0.990          -1.949         0              270            0              43
   5  Pencil          2.519          0.992          -1.774         0              270            0              43
   6  Pencil          3.300          0.727          1.397          0              180            0              68
   7  CreditCard      -0.706         0.785          -0.128         0              0              0              64
   8  CreditCard      -0.163         1.107          3.226          0              180            0              51
   9  KeyChain        -0.163         1.109          3.088          0              180            0              51
  10  KeyChain        3.512          0.126          1.365          0              0              0              67
  11  Book            1.950          0.988          -2.037         0              270            0              43
  12  Book            2.234          0.985          -1.862         0              270            0              43
  13  Pillow          1.888          0.674          0.308          0              0              0              28
  14  AlarmClock      -0.970         0.785          -0.548         0              0              0              64
  15  Book            2.381          0.610          0.068          0              0              0              28
  16  KeyChain        1.666          0.986          -2.125         0              270            0              43
  17  CreditCard      2.803          0.988          -2.125         0              270            0              43
  18  Pen             3.300          0.729          1.262          0              180            0              68
  19  Pencil          3.455          0.727          1.443          0              180            0              68
  20  Laptop          2.052          0.607          1.271          0              0              0              28
  21  Vase            2.492          0.185          -1.950         0              270            0              45
  22  AlarmClock      -0.838         0.785          -0.338         0              0              0              64
  23  Pillow          2.533          0.631          1.264          0              0              0              28
  24  Pillow          2.217          0.674          0.790          0              0              0              28
  25  CellPhone       -1.037         0.785          0.291          0              0              0              64
  26  CD              1.272          0.179          -1.896         0              270            0              40
  27  Vase            -0.384         0.772          3.172          0              0              0              50
  28  Bed             2.217          0.050          0.585          0              0              0
  29  GarbageCan      -0.978         0.048          -1.172         0              0              0
  30  Painting        2.990          1.592          1.567          90             0              0
  31  Painting        1.524          1.592          1.567          90             0              0
  32  Mirror          -1.190         1.417          -0.223         0              270            0
  33  LightSwitch     0.709          1.332          1.636          0              180            0
  34  Window          -2.629         1.460          2.891          90             270            0
  35  Window          -2.629         1.460          4.084          90             270            0
  36  DeskLamp        3.589          0.717          1.408          0              0              0
  37  Drawer          2.490          0.949          -1.703         0              0              0
  38  Cabinet         2.226          0.547          -1.615         0              0              0
  39  Drawer          1.975          0.949          -1.703         0              0              0
  40  Cabinet         1.207          0.547          -1.615         0              0              0
  41  Drawer          1.457          0.949          -1.703         0              0              0
  42  Cabinet         3.260          0.547          -1.615         0              0              0
  43  Dresser         2.234          0.048          -1.950         0              0              0
  44  Drawer          3.011          0.949          -1.703         0              0              0
  45  Cabinet         2.241          0.547          -1.615         0              0              0
  46  Shelf           -0.163         1.461          3.219          0              180            0
  47  Drawer          -0.161         0.242          3.166          0              180            0
  48  ShelvingUnit    -0.161         0.050          3.212          0              180            0
  49  Drawer          -0.161         0.562          3.168          0              180            0
  50  Shelf           -0.162         0.922          3.164          0              180            0
  51  Shelf           -0.162         1.241          3.163          0              180            0
  52  Blinds          -2.550         2.486          2.911          0              90             0
  53  Blinds          -2.550         2.486          4.107          0              90             0
  54  Drawer          -0.833         0.217          -0.336         0              90             0
  55  Drawer          -0.833         0.217          0.486          0              90             0
  56  Drawer          -0.833         0.628          -0.747         0              90             0
  57  Drawer          -0.833         0.217          0.075          0              90             0
  58  Drawer          -0.833         0.628          0.486          0              90             0
  59  Drawer          -0.833         0.217          -0.747         0              90             0
  60  Drawer          -0.833         0.423          -0.336         0              90             0
  61  Drawer          -0.833         0.423          0.075          0              90             0
  62  Drawer          -0.833         0.423          0.486          0              90             0
  63  Drawer          -0.833         0.423          -0.747         0              90             0
  64  Dresser         -0.934         0.050          -0.129         0              90             0
  65  Drawer          -0.833         0.628          0.075          0              90             0
  66  Drawer          -0.833         0.628          -0.336         0              90             0
  67  Drawer          3.454          0.212          1.262          0              180            0
  68  SideTable       3.455          0.046          1.328          0              180            0
  69  Drawer          3.454          0.504          1.262          0              180            0
  70  NorthWall
  71  EastWall
  72  SouthWall
  73  WestWall

Plan:
STEP 1: Move to the end table on the right side of the bed. | STEP 2: Pick up the pen off of the end table | STEP 3: Move to the dresser shelf to the left of the bed down the hall a few feet and stand to the left side of dresser. | STEP 4: Open first dress drawer and place pen into the drawer and close it | STEP 5: Move to the front of the dresser shelf | STEP 6: Pick up pen from off the shelf | STEP 7: Move to the left side of the dresser shelf  | STEP 8: Open drawer and place pen inside, close drawer again. | END