Task: drop two pens on the cupboard between the beds

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.5            0.899          -0.25          0              180            0
   1  Bowl            3.147          0.791          -1.686         0              0              0              61
   2  CellPhone       -1.592         0.614          0.503          0              180            0              65
   3  Pen             0.891          1.147          -2.854         0              270            0              43
   4  Pen             -2.885         1.147          -2.133         0              90             0              41
   5  Pencil          0.859          1.418          -2.653         0              270            0              48
   6  Pencil          -2.853         1.418          -1.497         0              90             0              49
   7  CreditCard      -1.731         0.613          0.543          0              180            0              65
   8  CreditCard      0.922          1.413          -2.854         0              270            0              48
   9  Laptop          -2.155         0.598          -0.317         0              0              0              33
  10  Laptop          -0.327         0.614          -1.442         0              0              0              34
  11  Pillow          -0.327         0.693          -0.317         0              0              0              34
  12  Book            3.209          0.791          -2.250         0              0              0              61
  13  Laptop          -0.784         0.614          -0.317         0              0              0              34
  14  KeyChain        -1.383         0.615          0.381          0              180            0              65
  15  Cloth           0.970          -0.001         -2.404         0              0              0
  16  BaseballBat     -2.982         0.015          -2.698         270            350.597        0
  17  BasketBall      -2.718         0.118          -1.925         0              0              0
  18  Pillow          -2.612         0.678          -1.442         0              0              0              33
  19  Pillow          -0.936         0.693          -0.879         0              0              0              34
  20  TennisRacket    -3.018         0.301          -2.199         19.103         272.232        184.978
  21  Pencil          3.024          0.798          -1.403         0              0              0              61
  22  CreditCard      -1.676         0.337          0.350          0              0              0              63
  23  Cloth           0.911          0.025          -2.702         0              0              0
  24  TeddyBear       -2.645         0.624          -0.402         0              286.876        0              33
  25  Pen             0.828          1.147          -2.586         0              270            0              43
  26  Cloth           0.705          -0.001         -2.75          0              270            0
  27  AlarmClock      3.024          0.794          -2.250         0              0              0              61
  28  Watch           3.332          0.793          -1.121         0              0              0              61
  29  CellPhone       -1.574         0.075          0.371          0              0              0              64
  30  CD              0.922          1.413          -2.653         0              270            0              48
  31  Mug             3.147          0.789          -1.121         0              0              0              61
  32  Bowl            3.271          0.791          -1.968         0              0              0              61
  33  Bed             -2.455         -0.000         -0.572         0              0              0
  34  Bed             -0.634         -0.000         -0.567         0              0              0
  35  Chair           2.828          -0.002         -0.004         0              245.795        0
  36  Chair           2.727          -0.002         -1.210         0              95.225         0
  37  GarbageCan      1.707          -0.003         -2.785         0              59.967         0
  38  Shelf           0.922          1.133          -2.163         0              270            0
  39  Shelf           -2.948         1.405          -1.621         0              90             0
  40  Shelf           0.922          1.405          -2.163         0              270            0
  41  Shelf           -2.948         1.133          -2.188         0              90             0
  42  Shelf           -2.948         1.405          -2.188         0              90             0
  43  Shelf           0.922          1.133          -2.729         0              270            0
  44  Shelf           0.922          1.133          -1.616         0              270            0
  45  Shelf           -2.948         1.405          -2.735         0              90             0
  46  Shelf           0.922          1.405          -1.616         0              270            0
  47  Shelf           -2.948         1.133          -2.735         0              90             0
  48  Shelf           0.922          1.405          -2.729         0              270            0
  49  Shelf           -2.948         1.133          -1.621         0              90             0
  50  LightSwitch     -0.142         1.328          0.600          0              180            0
  51  Poster          3.400          1.863          -1.976         90             90             0
  52  Poster          3.400          1.702          -0.792         90             90             0
  53  DeskLamp        3.126          0.789          -0.638         0              3.649          0
  54  Mirror          0.453          1.491          0.616          0              0              0
  55  Window          2.278          0.925          -3.184         90             0              0
  56  Window          -1.019         0.925          -3.184         90             0              0
  57  Blinds          -1.003         2.072          -3.177         0              0              0
  58  Blinds          2.292          2.072          -3.177         0              0              0
  59  Shelf           3.124          0.633          -0.564         0              270            0
  60  Shelf           3.124          0.633          -2.267         0              270            0
  61  Desk            3.141          -0.000         -1.414         0              270            0
  62  Desktop         3.101          0.792          -1.236         358.565        270            0
  63  Drawer          -1.523         0.408          0.346          0              180            0
  64  Drawer          -1.523         0.141          0.346          0              180            0
  65  SideTable       -1.522         -0.001         0.411          0              180            0
  66  NorthWall
  67  EastWall
  68  SouthWall
  69  WestWall

Plan:
STEP 1: move forward to the shelf | STEP 2: pick up a pen from the shelf | STEP 3: turn around and head for the cupboard between the beds | STEP 4: place the pen on the cupboard | STEP 5: turn around and head for the shelf | STEP 6: pick up a pen from the shelf | STEP 7: turn right and head to the cupboard between the beds | STEP 8: drop the pen on the cupboard | END