Task: putting pens where they go.

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           0.899          -1.0           0              270            0
   1  Bowl            0.922          1.413          -1.730         0              270            0              46
   2  Bowl            3.024          0.792          -0.838         0              0              0              61
   3  CD              2.962          0.792          -0.556         0              0              0              59
   4  CellPhone       -2.764         0.600          0.245          0              0              0              33
   5  CellPhone       -1.383         0.614          0.340          0              180            0              65
   6  Pen             3.147          0.797          -2.250         0              0              0              61
   7  Pencil          -2.853         1.418          -2.682         0              90             0              45
   8  CreditCard      -1.574         0.337          0.371          0              0              0              63
   9  CreditCard      -1.523         0.075          0.393          0              0              0              64
  10  AlarmClock      3.271          0.792          -1.968         0              0              0              61
  11  Laptop          -2.612         0.598          -0.879         0              0              0              33
  12  Book            -2.46          0.599          0.245          0              0              0              33
  13  Laptop          -0.631         0.614          -0.598         0              0              0              34
  14  KeyChain        3.271          0.794          -1.121         0              0              0              61
  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          -0.936         0.693          -1.160         0              0              0              34
  19  Pillow          -0.626         0.650          0.129          0              0              0              34
  20  TennisRacket    -3.018         0.301          -2.199         19.103         272.232        184.978
  21  Pencil          -2.979         1.418          -1.564         0              90             0              49
  22  CreditCard      -1.314         0.613          0.543          0              180            0              65
  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             -2.853         1.147          -1.497         0              270            0              49
  26  Cloth           0.705          -0.001         -2.75          0              270            0
  27  AlarmClock      -2.979         1.142          -1.564         0              90             0              49
  28  Watch           2.962          0.791          -1.686         0              0              0              61
  29  CellPhone       3.086          0.791          -1.968         0              0              0              61
  30  CD              3.332          0.791          -2.250         0              0              0              61
  31  Mug             -2.916         1.139          -2.805         0              90             0              41
  32  Bowl            0.954          1.413          -1.485         0              270            0              46
  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: turn left and go to end of the bed and turn right until your at the wall, turn right to face the bed with blue blanket | STEP 2: pick up a white pen off of the bed. | STEP 3: turn right, go to middle of the beds. | STEP 4: face the nightstand and put the pen on the night stand.  | STEP 5: turn around , go left at the end of the bed, go straight and left again past the bed, at the door turn right, head to the left part of the desk you see.  | STEP 6: pick up the pen off of the desk.  | STEP 7: go back to the nightstand between the beds. | STEP 8: put the pen on the nightstand between the beds.  | END