Task: Move two pens from the white table to the bottom shelf of the desk.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.901          1.25           0              270            0
   1  CellPhone       0.505          0.685          -1.663         0              0              0              31
   2  Pen             -1.828         0.646          0.448          0              270            0              39
   3  Pen             1.769          0.717          0.022          0              270            0              42
   4  KeyChain        0.789          0.684          -1.705         0              0              0              31
   5  Book            -1.683         0.672          1.206          0              0              0              39
   6  Book            -1.617         0.675          0.919          0              0              0              39
   7  Pillow          -1.301         0.618          -0.690         0              0              0              23
   8  Pillow          -0.344         0.618          -0.549         0              0              0              23
   9  Book            -1.681         0.506          1.581          0              270            0              35
  10  AlarmClock      0.363          0.684          -1.789         0              0              0              31
  11  BasketBall      1.510          0.120          -0.105         0              0              0
  12  TeddyBear       -1.7           0.475          -0.331         0              225            0              23
  13  TennisRacket    1.551          0.000          0.654          270            336.082        0
  14  Pen             1.589          0.717          0.990          0              270            0              42
  15  Pencil          1.408          0.715          0.022          0              270            0              42
  16  KeyChain        -1.575         0.287          1.715          0              270            0              37
  17  CreditCard      -1.875         1.071          0.926          0              270            0              38
  18  Laptop          -1.786         0.634          0.206          0              159.517        0              39
  19  CellPhone       -0.583         0.541          -0.267         0              0              0              23
  20  Pillow          -1.757         0.569          -0.768         0              285.000        0              23
  21  CD              1.589          0.711          0.796          0              270            0              42
  22  Curtains        1.865          2.039          -0.495         0              0              0
  23  Bed             -1.037         0.009          -0.690         0              270            0
  24  Mirror          0.549          1.494          1.880          0              0              0
  25  Curtains        0.486          2.035          -1.853         0              90             0
  26  GarbageCan      1.683          -0.018         1.670          0              270            0
  27  LightSwitch     -0.119         1.317          1.853          0              180            0
  28  DeskLamp        -1.845         1.057          0.756          0              0              0
  29  Window          1.932          1.409          -0.507         90             270            0
  30  Window          0.481          1.411          -1.932         90             0              0
  31  SideTable       0.626          0.0            -1.705         0              0              0
  32  Footstool       0.176          0.006          -0.358         0              0              0
  33  Dumbbell        1.596          0.715          0.772          0              0              0
  34  Dumbbell        1.776          0.717          0.772          0              0              0
  35  Shelf           -1.700         0.573          1.540          0              90             0
  36  Shelf           -1.700         0.156          1.540          0              90             0
  37  Shelf           -1.700         0.377          1.540          0              90             0
  38  Shelf           -1.839         1.084          1.235          0              90             0
  39  Desk            -1.722         0.003          0.920          0              90             0
  40  Footstool       0.175          0.004          -0.652         0              0              0
  41  GarbageBag      1.624          0.319          -1.609         270            90             83.418
  42  Desk            1.519          1.823          0.385          0              270            0
  43  Chair           -1.459         0.003          0.929          0              292.527        0
  44  NorthWall
  45  EastWall
  46  WestWall

Plan:
STEP 1: Turn around and walk to the far right end of the white table.  | STEP 2: Pick up the pen on the table, between the window and the pencil.  | STEP 3: Turn around and walk back to the center of the desk, to the right of the bed.  | STEP 4: Place the pen on the bottom, right shelf of the desk. | STEP 5: Turn back around and go to the left side of the white table.  | STEP 6: Pick up the blue pen, on the table, to the left of the CD.  | STEP 7: Turn around and walk back to the desk again. | STEP 8: Place the pen on the bottom right shelf of the desk, behind the other pen. | END