Task: Put two pens on top of the 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            0.901          2.5            0              270            0
   1  Mug             -0.782         0.675          2.364          0              90             0              36
   2  CD              -0.872         0.677          2.177          0              90             0              36
   3  CellPhone       1.417          0.434          1.326          0              180            0              63
   4  Pen             -0.872         0.683          1.431          0              90             0              36
   5  Pencil          -0.603         0.681          2.364          0              90             0              36
   6  Pencil          2.100          0.730          -0.010         0              270            0              60
   7  KeyChain        2.003          0.726          0.482          0              270            0              60
   8  KeyChain        1.608          0.521          -0.639         0              180            0              58
   9  Book            -0.600         0.069          2.163          0              0              0              35
  10  Book            -0.562         1.841          1.348          0              0              0              55
  11  Laptop          -0.867         1.498          -0.719         0              0              0              50
  12  Laptop          -0.632         1.835          2.481          0              0              0              55
  13  AlarmClock      -0.949         0.669          3.075          0              90             0              46
  14  Book            -0.692         0.681          1.618          0              90             0              36
  15  Box             -0.493         0.2            -0.286         0              84.024         0
  16  TennisRacket    -1.345         0.288          0.233          30.000         270            180
  17  Pen             1.612          0.732          -0.502         0              270            0              60
  18  AlarmClock      -0.603         0.678          2.177          0              90             0              36
  19  Pillow          -0.63          1.871          3.047          0              0              0              55
  20  Pillow          -0.829         1.549          -1.533         0              0              0              50
  21  CellPhone       -0.761         0.670          2.728          0              90             0              46
  22  KeyChain        1.756          0.435          1.790          0              180            0              63
  23  CreditCard      1.587          0.432          1.790          0              180            0              63
  24  CD              1.710          0.726          -0.748         0              270            0              60
  25  Pencil          -0.692         0.681          1.245          0              90             0              36
  26  Laptop          1.612          0.724          0.482          0              270            0              60
  27  Mug             -0.513         0.675          1.245          0              90             0              36
  28  DeskLamp        2.016          0.701          0.708          0              0              0
  29  Painting        2.199          1.771          -0.101         90             270            0
  30  GarbageCan      2.022          -0.037         -1.239         0              270            0
  31  Mirror          2.229          1.254          2.664          0              90             0
  32  LightSwitch     2.199          1.258          1.988          0              270            0
  33  Window          1.575          1.559          -1.953         90             180            0
  34  Drawer          -0.551         0.578          2.246          0              90             0
  35  Cabinet         -0.649         0.270          2.247          0              90             0
  36  Desk            -0.655         0.006          1.814          0              90             0
  37  Shelf           1.769          0.184          0.757          0              270            0
  38  Shelf           1.769          0.572          0.757          0              270            0
  39  Shelf           1.769          0.572          0.935          0              270            0
  40  Shelf           1.769          0.378          0.935          0              270            0
  41  Shelf           1.769          0.378          0.757          0              270            0
  42  Shelf           1.769          0.184          0.935          0              270            0
  43  Blinds          1.547          2.434          -1.886         0              0              0
  44  Drawer          -0.553         0.155          2.942          0              90             0
  45  Drawer          -0.553         0.572          2.942          0              90             0
  46  Dresser         -0.665         0.001          2.939          0              90             0
  47  Drawer          -0.553         0.376          2.942          0              90             0
  48  Chair           1.482          0.012          0.223          0              77.085         0
  49  Chair           -0.199         0.012          1.538          0              287.086        0
  50  Bed             -0.866         0.007          -0.919         0              0              0
  51  Dresser         -0.772         0.001          -1.313         0              90             0
  52  Drawer          -0.660         0.830          -1.309         0              90             0
  53  Drawer          -0.660         0.225          -1.309         0              90             0
  54  Drawer          -0.660         0.547          -1.309         0              90             0
  55  Bed             -0.872         1.637          2.188          0              0              0
  56  Drawer          1.685          0.160          -0.805         0              270            0
  57  Drawer          1.685          0.160          -0.378         0              270            0
  58  Drawer          1.685          0.547          -0.805         0              270            0
  59  Drawer          1.685          0.547          -0.378         0              270            0
  60  Desk            1.812          0.003          -0.014         0              270            0
  61  Drawer          1.685          0.354          -0.805         0              270            0
  62  Drawer          1.685          0.354          -0.378         0              270            0
  63  ArmChair        1.712          -0.000         1.532          0              270            0
  64  NorthWall
  65  EastWall
  66  SouthWall
  67  WestWall

Plan:
STEP 1: Turn left walk forward then turn left facing the desk | STEP 2: Pick up the pen on the desk | STEP 3: Turn right then head to the drawer under the table | STEP 4: Put the pen on top of the drawer | STEP 5: Turn right walk forward then turn left in between the two double deck | STEP 6: Pick up the pen on the desk under the deck | STEP 7: Turn right then head to the drawer on your right | STEP 8: Put the pen beside the other pen on top of the drawer | END