Task: Place two blue pens on top of a dresser

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           0.901          1.0            0              90             0
   1  Mug             -0.949         0.667          2.728          0              90             0              46
   2  CD              -0.799         0.737          -1.486         0              0              0              52
   3  CD              -0.493         0.504          2.711          0              0              0              45
   4  CellPhone       -0.731         1.502          -0.273         0              0              0              50
   5  CellPhone       -0.461         1.502          -0.496         0              0              0              50
   6  Pen             2.003          0.732          -0.256         0              270            0              60
   7  Pen             -0.692         0.683          1.245          0              90             0              36
   8  Pen             1.807          0.732          -0.256         0              270            0              60
   9  CreditCard      -0.532         0.516          2.235          0              0              0              34
  10  CreditCard      1.672          0.440          1.697          0              180            0              63
  11  KeyChain        1.822          0.106          -0.270         0              0              0              57
  12  KeyChain        1.587          0.433          1.790          0              180            0              63
  13  AlarmClock      -0.513         0.678          1.431          0              90             0              36
  14  Book            1.905          0.729          -0.748         0              270            0              60
  15  Box             -0.493         0.2            -0.286         0              84.024         0
  16  TennisRacket    -1.345         0.288          0.233          30.000         270            180
  17  Pen             -0.692         0.683          1.804          0              90             0              36
  18  AlarmClock      2.003          0.727          0.482          0              270            0              60
  19  Pillow          -0.731         1.585          -0.496         0              0              0              50
  20  Pillow          -0.829         1.549          -1.533         0              0              0              50
  21  CellPhone       -0.799         0.097          -1.403         0              0              0              53
  22  KeyChain        1.515          0.727          0.728          0              270            0              60
  23  CreditCard      -0.729         0.516          2.305          0              0              0              34
  24  CD              -0.543         0.978          -1.322         0              0              0              51
  25  Pencil          1.905          0.730          -0.010         0              270            0              60
  26  Laptop          -0.603         0.675          2.177          0              90             0              36
  27  Mug             -0.600         0.063          2.307          0              0              0              35
  28  DeskLamp        2.016          0.701          0.708          0              0              0
  29  Painting        2.199          1.771          -0.101         90             270            0
  30  GarbageCan      2.022          -0.037         -1.239         0              270            0
  31  Mirror          2.229          1.254          2.664          0              90             0
  32  LightSwitch     2.199          1.258          1.988          0              270            0
  33  Window          1.575          1.559          -1.953         90             180            0
  34  Drawer          -0.551         0.578          2.246          0              90             0
  35  Cabinet         -0.649         0.270          2.247          0              90             0
  36  Desk            -0.655         0.006          1.814          0              90             0
  37  Shelf           1.769          0.184          0.757          0              270            0
  38  Shelf           1.769          0.572          0.757          0              270            0
  39  Shelf           1.769          0.572          0.935          0              270            0
  40  Shelf           1.769          0.378          0.935          0              270            0
  41  Shelf           1.769          0.378          0.757          0              270            0
  42  Shelf           1.769          0.184          0.935          0              270            0
  43  Blinds          1.547          2.434          -1.886         0              0              0
  44  Drawer          -0.553         0.155          2.942          0              90             0
  45  Drawer          -0.553         0.572          2.942          0              90             0
  46  Dresser         -0.665         0.001          2.939          0              90             0
  47  Drawer          -0.553         0.376          2.942          0              90             0
  48  Chair           1.482          0.012          0.223          0              77.085         0
  49  Chair           -0.199         0.012          1.538          0              287.086        0
  50  Bed             -0.866         0.007          -0.919         0              0              0
  51  Dresser         -0.772         0.001          -1.313         0              90             0
  52  Drawer          -0.660         0.830          -1.309         0              90             0
  53  Drawer          -0.660         0.225          -1.309         0              90             0
  54  Drawer          -0.660         0.547          -1.309         0              90             0
  55  Bed             -0.872         1.637          2.188          0              0              0
  56  Drawer          1.685          0.160          -0.805         0              270            0
  57  Drawer          1.685          0.160          -0.378         0              270            0
  58  Drawer          1.685          0.547          -0.805         0              270            0
  59  Drawer          1.685          0.547          -0.378         0              270            0
  60  Desk            1.812          0.003          -0.014         0              270            0
  61  Drawer          1.685          0.354          -0.805         0              270            0
  62  Drawer          1.685          0.354          -0.378         0              270            0
  63  ArmChair        1.712          -0.000         1.532          0              270            0
  64  NorthWall
  65  EastWall
  66  SouthWall
  67  WestWall

Plan:
STEP 1: turn to the right and go forward a few steps and turn to the left and go to the desk | STEP 2: pick up the front blue pen from the desk | STEP 3: turn to the right and take a few steps and turn to the right and go to the dresser | STEP 4: put the blue pen right of the CD on the top of the dresser | STEP 5: turn to the right and go forward a few steps and turn to the right and go to the desk | STEP 6: pick up the back blue pen from the desk | STEP 7: turn to the right and take a few steps and turn to the right and go to the dresser | STEP 8: put the blue pen right on the CD on the top of the dresser | END