Task: Put two pens on the dresser.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.900          1.75           0              0              0
   1  Bowl            -1.577         1.521          -2.004         0              270            0              42
   2  CD              1.293          0.382          -0.386         0              270            0              40
   3  CD              1.120          0.237          -1.894         0              0              0              28
   4  Pen             0.937          0.582          -2.592         0              0              0              48
   5  Pen             1.159          0.916          -0.249         0              270            0              39
   6  KeyChain        0.152          0.578          -2.537         0              0              0              48
   7  KeyChain        -1.544         1.523          -1.571         0              270            0              42
   8  CreditCard      1.329          0.105          -1.929         0              0              0              29
   9  CreditCard      1.121          0.504          -1.983         0              270            0              31
  10  Laptop          -1.203         0.609          0.057          0              0              0              30
  11  Laptop          -0.962         0.609          -0.504         0              180            0              30
  12  AlarmClock      -1.332         0.699          -1.610         0              0              0              53
  13  AlarmClock      1.260          0.911          0.039          0              270            0              39
  14  Book            0.623          0.569          -2.471         0              350.999        0              37
  15  KeyChain        1.226          0.912          -0.104         0              270            0              39
  16  BaseballBat     1.436          0.636          1.985          21.882         0              0
  17  BasketBall      1.270          0.12           -1.290         0              345.557        0
  18  Pencil          1.293          1.416          0.195          0              270            0              41
  19  CellPhone       -1.582         0.697          -2.046         0              0              0              53
  20  CreditCard      -1.645         0.696          -2.191         0              0              0              53
  21  Laptop          -1.203         0.609          0.618          0              0              0              30
  22  Pillow          -1.170         0.684          -0.990         0              0              0              30
  23  Boots           1.288          0.000          -0.961         0              177.912        0
  24  Pen             0.780          0.582          -2.373         0              90             0              48
  25  AlarmClock      -1.330         0.693          -2.483         0              1.873          0              53
  26  CD              1.172          0.104          -1.605         0              0              0              35
  27  Bowl            -1.394         0.699          -1.900         0              0              0              53
  28  Drawer          0.980          0.271          -1.963         0              0              0
  29  Drawer          0.980          0.139          -1.963         0              0              0
  30  Bed             -1.209         0.016          -0.266         0              180            1.624
  31  Shelf           1.220          0.859          -1.802         0              270            0
  32  Drawer          0.980          0.404          -1.963         0              0              0
  33  Drawer          0.980          0.272          -1.639         0              0              0
  34  Mirror          0.740          1.491          2.099          0              0              0
  35  Drawer          0.980          0.139          -1.639         0              0              0
  36  Drawer          0.980          0.404          -1.639         0              0              0
  37  Chair           0.280          -0.001         -2.264         0              180            0
  38  GarbageCan      -1.542         0.013          1.919          2.249          116.925        355.175
  39  Shelf           1.259          0.903          -0.269         0              270            0
  40  Shelf           1.259          0.375          -0.263         0              270            0
  41  Shelf           1.259          1.402          -0.259         0              270            0
  42  Shelf           -1.577         1.513          -2.025         0              270            0
  43  LightSwitch     -0.755         1.176          2.099          0              180            0
  44  DeskLamp        -1.489         0.669          -2.419         0              0              0
  45  Window          0.243          0.963          -2.678         90             0              0
  46  Window          -0.361         0.963          -2.679         90             0              0
  47  Window          -0.962         0.963          -2.678         90             0              0
  48  Desk            0.445          0.001          -2.430         0              0              0
  49  Blinds          -0.349         2.186          -2.685         0              0              0
  50  Blinds          0.250          2.186          -2.685         0              0              0
  51  Blinds          -0.952         2.186          -2.685         0              0              0
  52  Drawer          -1.314         0.163          -2.051         0              90             0
  53  SideTable       -1.444         -0.001         -2.051         0              90             0
  54  Drawer          -1.314         0.455          -2.051         0              90             0
  55  NorthWall
  56  EastWall
  57  SouthWall
  58  WestWall

Plan:
STEP 1: Turn right and go to the desk. | STEP 2: Pick up the pen next to the book. | STEP 3: Go to the dresser on your right. | STEP 4: Put the pen on the dresser. | STEP 5: Turn around and go to the shelf. | STEP 6: Pick up the pen from the shelf. | STEP 7: Return to the dresser. | STEP 8: Put the second pen on the dresser. | END