Task: Move two pens to a small dresser.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.75           0.900          1.0            0              180            0
   1  CD              -1.762         1.637          -2.415         0              90             0              37
   2  CD              2.552          0.373          -1.592         0              180            0              58
   3  CellPhone       2.136          0.442          2.099          0              90             0              59
   4  Pen             -1.668         1.152          -2.073         0              90             0              38
   5  Pen             -1.657         0.976          0.464          0              0              0              43
   6  Book            -1.663         0.799          0.256          0              0              0              48
   7  AlarmClock      -1.804         0.970          -0.339         0              0              0              43
   8  AlarmClock      -1.668         1.637          -2.073         0              90             0              37
   9  Book            1.502          0.774          -0.695         0              0              0              25
  10  KeyChain        1.653          0.682          2.127          0              0              0              53
  11  AlarmClock      1.731          0.680          2.262          0              0              0              53
  12  Pillow          1.413          0.794          -1.505         0              0              0              25
  13  Pillow          0.778          0.836          -0.990         0              0              0              25
  14  Vase            -1.668         1.147          -1.731         0              90             0              38
  15  Laptop          1.502          0.773          -0.106         0              0              0              25
  16  Vase            -1.650         1.626          -2.316         0              0              0              37
  17  Pencil          -1.496         0.415          0.256          0              0              0              52
  18  CreditCard      2.205          0.680          -1.671         0              0              0              56
  19  Boots           -1.842         0.000          -1.077         0              135            0
  20  Pen             -1.668         1.643          -1.959         0              90             0              37
  21  CellPhone       -1.607         0.800          -0.024         0              0              0              45
  22  CD              1.405          0.373          2.177          0              0              0              55
  23  Bowl            -1.684         1.135          -2.300         0              346.900        0              38
  24  Statue          2.437          0.691          -1.717         0              0              0              56
  25  Bed             1.017          0.003          -0.686         0              180            0
  26  HousePlant      -1.749         0.971          0.463          0              0              0
  27  GarbageCan      -1.665         -0.000         0.953          0              45             0
  28  Painting        0.381          1.976          -1.895         90             0              0
  29  Painting        0.879          1.976          -1.895         90             0              0
  30  Painting        1.373          1.976          -1.895         90             0              0
  31  LightSwitch     -0.164         1.085          2.450          0              180            0
  32  Mirror          -1.950         1.735          -0.206         0              270            0
  33  Window          -1.098         1.570          -3.230         90             0              0
  34  DeskLamp        1.404          0.668          2.209          0              0              0
  35  DeskLamp        2.596          0.668          -1.710         0              0              0
  36  Blinds          -1.062         2.361          -3.173         0              0              0
  37  Shelf           -1.675         1.871          -2.053         0              90             0
  38  Shelf           -1.675         1.383          -2.053         0              90             0
  39  Drawer          -1.715         0.832          -2.053         0              90             0
  40  ShelvingUnit    -1.723         0.007          -2.053         0              90             0
  41  Drawer          -1.713         0.339          -2.053         0              90             0
  42  Drawer          -1.629         0.104          0.243          0              90             0
  43  Dresser         -1.674         0.000          -0.153         0              90             0
  44  Drawer          -1.630         0.868          -0.550         0              90             0
  45  Drawer          -1.630         0.680          0.243          0              90             0
  46  Drawer          -1.629         0.104          -0.550         0              90             0
  47  Drawer          -1.630         0.680          -0.550         0              90             0
  48  Drawer          -1.630         0.868          0.243          0              90             0
  49  Drawer          -1.629         0.486          -0.550         0              90             0
  50  Drawer          -1.629         0.291          0.243          0              90             0
  51  Drawer          -1.629         0.291          -0.550         0              90             0
  52  Drawer          -1.630         0.486          0.243          0              90             0
  53  SideTable       1.576          -0.001         2.137          0              180            0
  54  Drawer          1.576          0.163          2.070          0              180            0
  55  Drawer          1.576          0.455          2.070          0              180            0
  56  SideTable       2.437          -0.001         -1.603         0              0              0
  57  Drawer          2.438          0.163          -1.536         0              0              0
  58  Drawer          2.438          0.455          -1.536         0              0              0
  59  ArmChair        2.393          -0.001         1.943          0              180            0
  60  NorthWall
  61  EastWall
  62  SouthWall
  63  WestWall

Plan:
STEP 1: Turn to the right and face the brown dresser. | STEP 2: Pick up the pen from the right side of the dresser. | STEP 3: Carry the pen and turn around. Past the bed, turn right and find the small dresser. | STEP 4: Place the pen on the dresser to the left side. | STEP 5: Turn around and then left past the bed. Turn left again and find the tall dresser. | STEP 6: Pick up the pen from the top of the tall dresser. | STEP 7: Carry the pen and turn to the right. Turn right again to find the small dresser beside the bed. | STEP 8: Place the pen on the small dresser, on top of the other pen. | END