Task: To move two pens to the night stand.

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          0.900          2.0            0              270            0
   1  CD              -1.878         0.971          0.464          0              0              0              46
   2  CD              1.808          0.680          2.172          0              0              0              56
   3  CellPhone       -1.720         0.664          -2.177         0              0              0              42
   4  CellPhone       -1.663         0.800          -0.629         0              0              0              47
   5  Pen             -1.657         0.976          -0.339         0              0              0              46
   6  Pencil          -1.730         1.151          -2.073         0              90             0              41
   7  Pencil          -1.636         1.151          -1.959         0              90             0              41
   8  KeyChain        1.808          0.682          2.308          0              0              0              56
   9  KeyChain        -1.636         1.639          -1.959         0              90             0              40
  10  AlarmClock      1.653          0.680          2.308          0              0              0              56
  11  AlarmClock      1.576          0.680          2.082          0              0              0              56
  12  Book            -1.509         0.971          -0.742         0              0              0              46
  13  KeyChain        -1.608         0.606          -0.443         0              0              0              50
  14  AlarmClock      -1.699         1.637          -2.073         0              90             0              40
  15  Pillow          1.413          0.794          -1.505         0              0              0              28
  16  Pillow          1.502          0.836          0.188          0              0              0              28
  17  Vase            -1.668         1.147          -2.415         0              90             0              41
  18  Laptop          1.02           0.773          -0.990         0              0              0              28
  19  Vase            -1.650         1.626          -2.316         0              0              0              40
  20  Pencil          -1.668         1.643          -2.187         0              90             0              40
  21  CreditCard      2.133          0.437          1.929          0              90             0              62
  22  Boots           -1.842         0.000          -1.077         0              135            0
  23  Pen             -1.509         0.977          -0.339         0              0              0              46
  24  CellPhone       -1.552         0.217          -0.257         0              0              0              54
  25  CD              2.689          0.439          1.837          0              90             0              62
  26  Bowl            -1.509         0.970          -0.138         0              0              0              46
  27  Statue          2.360          0.691          -1.717         0              0              0              59
  28  Bed             1.017          0.003          -0.686         0              180            0
  29  HousePlant      -1.749         0.971          0.463          0              0              0
  30  GarbageCan      -1.665         -0.000         0.953          0              45             0
  31  Painting        0.381          1.976          -1.895         90             0              0
  32  Painting        0.879          1.976          -1.895         90             0              0
  33  Painting        1.373          1.976          -1.895         90             0              0
  34  LightSwitch     -0.164         1.085          2.450          0              180            0
  35  Mirror          -1.950         1.735          -0.206         0              270            0
  36  Window          -1.098         1.570          -3.230         90             0              0
  37  DeskLamp        1.404          0.668          2.209          0              0              0
  38  DeskLamp        2.596          0.668          -1.710         0              0              0
  39  Blinds          -1.062         2.361          -3.173         0              0              0
  40  Shelf           -1.675         1.871          -2.053         0              90             0
  41  Shelf           -1.675         1.383          -2.053         0              90             0
  42  Drawer          -1.715         0.832          -2.053         0              90             0
  43  ShelvingUnit    -1.723         0.007          -2.053         0              90             0
  44  Drawer          -1.713         0.339          -2.053         0              90             0
  45  Drawer          -1.629         0.104          0.243          0              90             0
  46  Dresser         -1.674         0.000          -0.153         0              90             0
  47  Drawer          -1.630         0.868          -0.550         0              90             0
  48  Drawer          -1.630         0.680          0.243          0              90             0
  49  Drawer          -1.629         0.104          -0.550         0              90             0
  50  Drawer          -1.630         0.680          -0.550         0              90             0
  51  Drawer          -1.630         0.868          0.243          0              90             0
  52  Drawer          -1.629         0.486          -0.550         0              90             0
  53  Drawer          -1.629         0.291          0.243          0              90             0
  54  Drawer          -1.629         0.291          -0.550         0              90             0
  55  Drawer          -1.630         0.486          0.243          0              90             0
  56  SideTable       1.576          -0.001         2.137          0              180            0
  57  Drawer          1.576          0.163          2.070          0              180            0
  58  Drawer          1.576          0.455          2.070          0              180            0
  59  SideTable       2.437          -0.001         -1.603         0              0              0
  60  Drawer          2.438          0.163          -1.536         0              0              0
  61  Drawer          2.438          0.455          -1.536         0              0              0
  62  ArmChair        2.393          -0.001         1.943          0              180            0
  63  NorthWall
  64  EastWall
  65  SouthWall
  66  WestWall

Plan:
STEP 1: Turn left and walk to the black dresser on the right.  | STEP 2: Pick up the pen from the dresser closest to the mirror.  | STEP 3: Turn around and walk around the bed to the night stand to the left of the bed.  | STEP 4: Put the pen down on the night stand in front of the lamp.  | STEP 5: Turn around and walk back to the black dresser.  | STEP 6: Pick up the remaining pen from the dresser.  | STEP 7: Walk back over to the night stand to the left of the bed.  | STEP 8: Put the pen down behind the first pen on the night stand.  | END