Task: Put the two pen in 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           -0.25          0.900          -1.75          0              180            0
   1  Pen             0.355          0.817          -2.507         0              0              0              49
   2  Pen             0.251          0.818          -2.304         0              0              0              49
   3  Pencil          0.146          0.816          -2.169         0              0              0              49
   4  Pencil          -0.061         0.816          -2.372         0              0              0              49
   5  CreditCard      0.146          0.805          -2.440         0              0              0              49
   6  Book            -1.493         0.087          -2.325         0              0              0              53
   7  RemoteControl   -1.319         0.089          -2.363         0              0              0              53
   8  Pillow          -0.333         0.902          1.657          0              0              0              27
   9  AlarmClock      0.459          0.813          -2.372         0              0              0              49
  10  Book            -0.046         0.774          1.012          0              0              0              27
  11  Cloth           1.303          0.0            -0.696         0              303.212        0
  12  Cloth           1.273          0.0            -0.969         0              0              0
  13  CellPhone       -0.046         0.774          1.335          0              0              0              27
  14  Pencil          1.494          0.827          -1.467         0              270            0              47
  15  Laptop          -0.998         0.855          -2.401         0              13.355         0              56
  16  AlarmClock      -1.594         0.862          -2.248         0              0              0              56
  17  CreditCard      -1.493         0.372          -2.287         0              0              0              54
  18  KeyChain        1.494          0.824          -1.673         0              270            0              47
  19  TennisRacket    -1.704         0.345          1.743          345.000        90             180
  20  RemoteControl   -1.319         0.653          -2.287         0              0              0              55
  21  Pillow          0.528          0.902          1.012          0              0              0              27
  22  CD              -1.493         0.371          -2.401         0              0              0              54
  23  CD              -1.232         0.087          -2.287         0              0              0              53
  24  CD              -0.587         0.861          -2.311         0              0              0              56
  25  Pen             -1.393         0.867          -2.248         0              0              0              56
  26  Bowl            -1.393         0.863          -2.436         0              0              0              56
  27  Bed             0.270          0.001          1.331          0              90             0
  28  LaundryHamper   -1.329         0.001          1.829          0              180            0
  29  Television      -1.664         1.479          -0.912         0              90             0
  30  DeskLamp        0.049          0.815          -2.481         0              0              0
  31  LightSwitch     -1.799         1.213          0.680          0              90             0
  32  Painting        0.492          1.684          -2.629         90             0              0
  33  Poster          -1.799         1.690          -1.491         90             270            0
  34  GarbageCan      1.306          -0.001         -2.451         0              317.376        0
  35  Mirror          1.5            1.361          -0.542         0              90             0
  36  Window          1.721          1.365          -1.597         90             270            0
  37  Shelf           -1.605         0.435          -0.686         0              90             0
  38  Shelf           -1.613         1.154          -0.904         0              90             0
  39  ShelvingUnit    -1.611         0.005          -0.904         0              90             0
  40  Shelf           -1.605         0.719          -1.122         0              90             0
  41  Shelf           -1.605         0.435          -1.122         0              90             0
  42  Shelf           -1.605         1.006          -1.122         0              90             0
  43  Shelf           -1.605         0.148          -0.686         0              90             0
  44  Shelf           -1.605         0.149          -1.122         0              90             0
  45  Shelf           -1.605         1.006          -0.686         0              90             0
  46  Shelf           -1.605         0.719          -0.686         0              90             0
  47  SideTable       1.484          0.001          -1.481         0              270            0
  48  Blinds          1.699          2.096          -1.575         0              270            0
  49  Desk            0.244          0.004          -2.356         0              0              0
  50  Chair           -0.626         1.439          -2.199         0              171.006        0
  51  Chair           0.220          1.466          -2.214         0              188.269        0
  52  Shelf           -0.978         1.387          -2.479         0              0              0
  53  Drawer          -1.389         0.197          -2.261         0              0              0
  54  Drawer          -1.389         0.480          -2.261         0              0              0
  55  Drawer          -1.389         0.731          -2.261         0              0              0
  56  Desk            -0.973         1.162          -2.351         0              0              0
  57  NorthWall
  58  EastWall
  59  SouthWall
  60  WestWall

Plan:
STEP 1: Turn around to your right face the desk  | STEP 2: Pick up the pen on the desk | STEP 3: Turn right then head desk with drawers | STEP 4: Open the drawer put the pen inside then close it  | STEP 5: Move closer to the desk | STEP 6: Pick up the pen on the desk beside the bowl | STEP 7: Turn to your left then move backwards  | STEP 8: Open the drawer then put in the pen then close it | END