Task: Put two pens on the night stand.

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 your right and go past the bed, to the dresser across from you.  | STEP 2: Pick up the pen, in front of the plant, on the right side of the dresser.  | STEP 3: Turn around and go past the bed, then make a right and go to the night stand on the left side of the bed,  | STEP 4: Place the pen in front of the lamp, near the edge of the night stand.  | STEP 5: Turn around and go just past the bed, turn left and go to the end of the bed again, then make another left and go to the second dresser on your right.  | STEP 6: Grab the pen on the dresser to the right of the bowl.  | STEP 7: Turn to your right and go towards the door, then make a right and go to the end of the bed, then turn right again and go back to the night stand.  | STEP 8: Place the pen behind the other pen, on the night stand.  | END