Task: put 2 pens on top of 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           -1.5           0.899          -2.75          0              270            0
   1  CD              3.024          0.791          -1.403         0              0              0              58
   2  CellPhone       2.962          0.791          -1.968         0              0              0              58
   3  CellPhone       -1.088         0.616          0.245          0              0              0              31
   4  Pen             3.024          0.797          -1.121         0              0              0              58
   5  Pen             3.086          0.798          -0.838         0              0              0              58
   6  KeyChain        -1.574         0.339          0.393          0              0              0              60
   7  KeyChain        -1.420         0.076          0.350          0              90             0              61
   8  Book            -2.916         0.599          -0.035         0              0              0              30
   9  Book            -2.155         0.599          -0.598         0              0              0              30
  10  Laptop          -2.155         0.598          -1.442         0              0              0              30
  11  KeyChain        3.147          0.794          -1.968         0              90             0              58
  12  Cloth           0.970          -0.001         -2.404         0              0              0
  13  BaseballBat     -2.982         0.015          -2.698         270            350.597        0
  14  BasketBall      -2.718         0.118          -1.925         0              0              0
  15  Pillow          -2.465         0.661          0.110          0              0              0              30
  16  Pillow          -0.936         0.693          -0.598         0              0              0              31
  17  TennisRacket    -3.018         0.301          -2.199         19.103         272.232        184.978
  18  Pencil          3.111          0.546          -0.552         0              270            0              56
  19  CreditCard      2.993          0.540          -0.383         0              270            0              32
  20  Cloth           0.911          0.025          -2.702         0              0              0
  21  TeddyBear       -2.645         0.624          -0.402         0              286.876        0              30
  22  Pen             0.859          1.419          -2.586         0              270            0              45
  23  Cloth           0.705          -0.001         -2.75          0              270            0
  24  AlarmClock      -2.885         1.414          -1.497         0              90             0              36
  25  Watch           -1.592         0.614          0.543          0              180            0              62
  26  CellPhone       0.922          1.141          -1.485         0              270            0              41
  27  CD              -1.662         0.613          0.340          0              180            0              62
  28  Mug             -1.523         0.611          0.381          0              0              0              62
  29  Bowl            -2.948         1.413          -1.698         0              90             0              36
  30  Bed             -2.455         -0.000         -0.572         0              0              0
  31  Bed             -0.634         -0.000         -0.567         0              0              0
  32  Chair           2.828          -0.002         -0.004         0              245.795        0
  33  Chair           2.727          -0.002         -1.210         0              95.225         0
  34  GarbageCan      1.707          -0.003         -2.785         0              59.967         0
  35  Shelf           0.922          1.133          -2.163         0              270            0
  36  Shelf           -2.948         1.405          -1.621         0              90             0
  37  Shelf           0.922          1.405          -2.163         0              270            0
  38  Shelf           -2.948         1.133          -2.188         0              90             0
  39  Shelf           -2.948         1.405          -2.188         0              90             0
  40  Shelf           0.922          1.133          -2.729         0              270            0
  41  Shelf           0.922          1.133          -1.616         0              270            0
  42  Shelf           -2.948         1.405          -2.735         0              90             0
  43  Shelf           0.922          1.405          -1.616         0              270            0
  44  Shelf           -2.948         1.133          -2.735         0              90             0
  45  Shelf           0.922          1.405          -2.729         0              270            0
  46  Shelf           -2.948         1.133          -1.621         0              90             0
  47  LightSwitch     -0.142         1.328          0.600          0              180            0
  48  Poster          3.400          1.863          -1.976         90             90             0
  49  Poster          3.400          1.702          -0.792         90             90             0
  50  DeskLamp        3.126          0.789          -0.638         0              3.649          0
  51  Mirror          0.453          1.491          0.616          0              0              0
  52  Window          2.278          0.925          -3.184         90             0              0
  53  Window          -1.019         0.925          -3.184         90             0              0
  54  Blinds          -1.003         2.072          -3.177         0              0              0
  55  Blinds          2.292          2.072          -3.177         0              0              0
  56  Shelf           3.124          0.633          -0.564         0              270            0
  57  Shelf           3.124          0.633          -2.267         0              270            0
  58  Desk            3.141          -0.000         -1.414         0              270            0
  59  Desktop         3.101          0.792          -1.236         358.565        270            0
  60  Drawer          -1.523         0.408          0.346          0              180            0
  61  Drawer          -1.523         0.141          0.346          0              180            0
  62  SideTable       -1.522         -0.001         0.411          0              180            0
  63  NorthWall
  64  EastWall
  65  SouthWall
  66  WestWall

Plan:
STEP 1: turn around to the right go left go forward towards the desk | STEP 2: pick up a pen from the desk | STEP 3: turn around to the left towards the bed go right turn left face the night stand | STEP 4: put the pen on top of the night stand | STEP 5: turn around to the left across the room go left | STEP 6: face a book shelf pick up a pen on the top shelf | STEP 7: turn around left go left  | STEP 8: face the night stand put the pen on top of the night stand | END