Task: Place two pens on the end table to the right of the bed.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.25           0.900          -2.0           0              0              0
   1  CD              0.952          0.374          -2.375         0              0              0              41
   2  CellPhone       -0.483         0.557          -1.657         0              0              0              24
   3  CellPhone       -1.203         0.672          -2.553         0              0              0              37
   4  Pen             -0.276         0.625          0.833          0              180            0              36
   5  Pencil          -0.276         0.623          0.677          0              180            0              36
   6  Pencil          -0.586         0.623          0.599          0              180            0              36
   7  CreditCard      -0.741         0.620          0.833          0              180            0              36
   8  KeyChain        1.125          0.376          -2.423         0              90             0              41
   9  KeyChain        -0.431         0.621          0.677          0              180            0              36
  10  Laptop          -0.300         0.554          -1.880         0              0              0              24
  11  Box             2.453          0.222          -0.041         0              0              0
  12  Book            -0.586         0.617          0.833          0              270            0              36
  13  KeyChain        1.173          0.681          -2.419         0              0              0              38
  14  Pillow          0.192          0.607          -2.307         0              0              0              24
  15  BaseballBat     0.419          0.666          1.044          10.360         0              0
  16  Pencil          -0.431         0.623          0.988          0              180            0              36
  17  CellPhone       -0.741         0.619          0.755          0              180            0              36
  18  CreditCard      -0.431         0.618          0.833          0              180            0              36
  19  Pen             0.033          0.624          0.910          0              180            0              36
  20  Laptop          -0.117         0.554          -1.211         0              0              0              24
  21  AlarmClock      -1.236         0.675          -2.425         0              30.005         1.864          38
  22  CD              -1.085         0.679          -2.553         0              0              0              37
  23  Mug             0.188          0.616          0.988          0              180            0              36
  24  Bed             -0.118         -0.001         -1.699         0              180            0
  25  Mirror          2.644          1.347          0.384          0              90             0
  26  GarbageCan      2.467          -0.029         0.936          0              271.107        0
  27  LightSwitch     0.333          1.256          1.149          0              180            0
  28  DeskLamp        0.915          0.670          -2.435         0              0              0
  29  Painting        0.003          1.562          -2.687         90             180            0
  30  Window          -1.559         1.414          -1.356         90             270            0
  31  Window          -1.559         1.414          -0.057         90             270            0
  32  Shelf           -0.276         0.351          0.832          0              0              0
  33  Shelf           -0.276         0.099          0.832          0              0              0
  34  Blinds          -1.462         2.157          -1.343         0              90             0
  35  Blinds          -1.462         2.157          -0.046         0              90             0
  36  Desk            -0.276         -0.001         0.833          0              0              0
  37  SideTable       -1.204         0.002          -2.456         0              0              0
  38  SideTable       0.948          0.002          -2.456         0              0              0
  39  Drawer          0.948          0.166          -2.389         0              0              0
  40  Drawer          -1.204         0.166          -2.389         0              0              0
  41  Drawer          0.948          0.458          -2.389         0              0              0
  42  Drawer          -1.204         0.458          -2.389         0              0              0
  43
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: Move to table at the end of the bed to the left of the door | STEP 2: Pick up pen from the table | STEP 3: Move to end table to the right of bed past the window | STEP 4: Place pen on the end table | STEP 5: Move to table at the end of the bed to the left of the door | STEP 6: Pick up another pen from the table | STEP 7: Move to end table to the right of bed past the window | STEP 8: Place pen on the end table next to other one | END