Task: Place two blue pens on desk to the right of black object

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.5            0.900          0.25           0              270            0
   1  CellPhone       -0.308         0.508          -1.359         0              0              0              21
   2  CellPhone       2.179          0.749          -1.357         0              0              0              32
   3  Pen             1.534          1.397          -1.624         0              0              0              40
   4  Pen             0.221          0.652          -1.625         0              0              0              30
   5  Pencil          2.661          0.053          1.276          0              0              0              23
   6  Pencil          2.061          0.781          -1.614         0              0              0              36
   7  KeyChain        0.084          0.647          -1.664         0              180            0              30
   8  Book            -0.809         0.507          -0.872         0              0              0              21
   9  Book            -0.642         0.507          -1.359         0              0              0              21
  10  Pencil          1.603          0.781          -1.614         0              0              0              35
  11  BasketBall      1.144          0.120          -1.656         0              23.931         0              Floor|-00.24|
  12  Laptop          -0.794         0.495          -0.303         0              61.899         0              21
  13  Pen             0.221          0.652          -1.744         0              0              0              30
  14  KeyChain        1.653          0.065          -1.352         0              0              0              38
  15  CreditCard      1.522          0.748          -1.357         0              0              0              32
  16  CellPhone       -0.475         0.508          -0.143         0              0              0              21
  17  CD              1.686          0.748          -1.433         0              0              0              32
  18  AlarmClock      2.450          1.138          -1.649         0              0              0              39
  19  Pillow          -1.154         0.54           -1.607         0              13.257         0              21
  20  Chair           2.161          0.008          -1.129         0              256.825        0
  21  Bed             -0.809         0.010          -0.891         0              180            0
  22  DeskLamp        0.047          0.668          -1.761         0              0              0
  23  GarbageCan      2.657          -0.021         1.275          0              0              0
  24  Mirror          2.821          1.764          -0.068         0              90             0
  25  Window          -1.677         1.402          0.365          90             270            0
  26  LightSwitch     -0.606         1.253          1.435          0              180            0
  27  Shelf           2.025          1.440          -1.730         0              0              0
  28  Drawer          0.187          0.455          -1.577         0              0              0
  29  Drawer          0.187          0.163          -1.577         0              0              0
  30  SideTable       0.186          -0.001         -1.643         0              0              0
  31  Dumbbell        1.576          0.083          -1.563         0              0              0
  32  Desk            2.017          0.000          -1.578         0              0              0
  33  GarbageBag      0.806          0.318          1.143          270            186.178        83.264
  34  Shelf           1.570          0.415          -1.563         0              0              0
  35  Shelf           1.612          0.945          -1.744         0              0              0
  36  Shelf           2.265          0.941          -1.722         0              0              0
  37  Shelf           1.572          0.630          -1.563         0              0              0
  38  Shelf           1.569          0.172          -1.563         0              0              0
  39  Shelf           2.267          1.248          -1.722         0              0              0
  40  Shelf           1.614          1.252          -1.745         0              0              0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: go to bedside table with lamp to the left | STEP 2: pick up blue pen closest to front of bedside table | STEP 3: turn left, face end of desk | STEP 4: place pencil on desk to the right of black object | STEP 5: go to bedside table with lamp to the right | STEP 6: pick up blue pen from bedside table | STEP 7: turn left, face end of desk | STEP 8: place pen in between black object and blue pen | END