Task: place two pens in a drawer

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.910          -0.25          0              90             0
   1  Mug             2.471          0.806          3.053          0              0              0              43
   2  Mug             2.545          0.743          -1.300         0              0              0              40
   3  Bowl            2.784          0.810          2.833          0              0              0              43
   4  CD              2.69           0.842          1.017          0              0              0              44
   5  CD              2.095          0.399          -0.420         0              270            0              47
   6  CellPhone       2.533          0.461          0.721          0              0              0              46
   7  Pen             2.471          0.813          3.715          0              0              0              43
   8  Pen             -0.749         0.919          3.982          0              0              0              32
   9  CreditCard      -1.397         0.399          -0.966         0              90             0              41
  10  CreditCard      2.262          0.808          3.715          0              0              0              43
  11  KeyChain        -0.684         0.914          3.799          0              0              0              32
  12  Book            -0.881         0.912          4.717          0              0              0              32
  13  AlarmClock      2.447          0.752          -1.516         0              0              0              52
  14  AlarmClock      2.889          0.815          3.053          0              0              0              43
  15  Book            -1.012         0.912          4.35           0              0              0              32
  16  AlarmClock      2.262          0.816          3.053          0              0              0              43
  17  CellPhone       2.449          0.842          0.624          0              0              0              44
  18  Bowl            2.576          0.809          3.274          0              0              0              43
  19  CreditCard      -0.684         0.913          3.982          0              0              0              32
  20  KeyChain        -0.881         0.914          4.533          0              180            0              32
  21  RemoteControl   2.275          0.401          -0.420         0              270            0              47
  22  Laptop          -1.312         0.712          1.690          0              0              0              29
  23  Pencil          -0.815         0.916          4.166          0              0              0              32
  24  Pillow          -0.959         0.752          2.977          0              0              0              29
  25  Pillow          -0.247         0.752          2.960          0              0              0              29
  26  CD              2.575          0.461          0.428          0              0              0              46
  27  Pen             2.471          0.813          3.494          0              0              0              43
  28  Mug             -0.881         0.911          4.166          0              270            0              32
  29  Bed             -0.594         0.009          2.298          0              0              0
  30  Mirror          -1.184         1.603          4.348          0              0              0
  31  Television      2.738          1.330          0.622          0              270            0
  32  CounterTop      -0.890         0.951          4.349          0              0              0
  33  LightSwitch     0.800          1.371          5.245          0              90             0
  34  Painting        2.992          1.529          3.415          90             270            0
  35  Painting        2.992          1.529          2.553          90             270            0
  36  DeskLamp        2.625          0.772          -1.469         0              0              0
  37  DeskLamp        2.668          0.810          3.082          0              358.947        0
  38  GarbageCan      -0.626         -0.009         3.742          0              0              0
  39  Window          -0.453         1.450          -2.058         90             180            0
  40  SideTable       2.565          0.009          -1.534         0              0              0
  41  ArmChair        -1.277         0.009          -1.169         0              90             0
  42  Blinds          -0.5           2.174          -1.957         0              0              0
  43  Desk            2.572          0.011          3.054          0              270            0
  44  SideTable       2.645          0.009          0.624          0              270            0
  45  Drawer          2.525          0.214          0.624          0              270            0
  46  Drawer          2.525          0.578          0.624          0              270            0
  47  ArmChair        2.424          0.009          -0.564         0              270            0
  48  LaundryHamper   3.457          0.009          4.555          0              270            0
  49  Chair           2.591          0.020          2.015          0              0              0
  50  Chair           2.184          0.020          3.440          0              120.016        0
  51  Chair           2.211          0.020          2.592          0              74.981         0
  52
  53  NorthWall
  54  EastWall
  55  SouthWall
  56  WestWall

Plan:
STEP 1: move left to the table | STEP 2: pick up a pen from the table | STEP 3: move ahead to the television stand  | STEP 4: drop the pan in the drawer under the  television | STEP 5: move left and head to the table | STEP 6: pick up the pen from the table | STEP 7: move ahead to towards the shelf under the tv | STEP 8: place the pen on the shelf under the table | END