Task: Put two pens on a desk.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.900          -0.25          0              270            0
   1  CD              2.508          0.748          -1.318         0              0              0              37
   2  CellPhone       2.170          1.392          -1.661         0              0              0              44
   3  CellPhone       -0.642         0.508          -0.386         0              0              0              26
   4  Pen             1.517          0.556          -1.295         0              0              0              42
   5  Pen             0.221          0.652          -1.744         0              0              0              35
   6  CreditCard      0.052          0.377          -1.655         0              180            0              33
   7  CreditCard      0.357          0.647          -1.784         0              0              0              35
   8  KeyChain        0.084          0.647          -1.664         0              180            0              35
   9  Book            -0.308         0.507          -0.386         0              0              0              26
  10  Book            -1.309         0.507          -1.115         0              0              0              26
  11  AlarmClock      1.489          1.138          -1.614         0              0              0              45
  12  AlarmClock      2.343          0.748          -1.433         0              0              0              37
  13  Laptop          -0.475         0.505          -0.872         0              0              0              26
  14  Book            2.058          0.740          -1.386         0              270            0              37
  15  Pencil          2.353          0.781          -1.614         0              0              0              41
  16  BasketBall      1.144          0.120          -1.656         0              23.931         0              Floor|-00.24|
  17  Laptop          -0.975         0.505          -0.872         0              90             0              26
  18  Pen             1.659          0.783          -1.684         0              0              0              40
  19  KeyChain        1.522          0.749          -1.472         0              90             0              37
  20  CreditCard      1.850          0.748          -1.472         0              0              0              37
  21  CellPhone       2.488          1.392          -1.661         0              0              0              44
  22  CD              0.357          0.646          -1.664         0              0              0              35
  23  AlarmClock      1.686          0.748          -1.357         0              0              0              37
  24  Pillow          -1.154         0.54           -1.607         0              13.257         0              26
  25  Chair           2.161          0.008          -1.129         0              256.825        0
  26  Bed             -0.809         0.010          -0.891         0              180            0
  27  DeskLamp        0.047          0.668          -1.761         0              0              0
  28  GarbageCan      2.657          -0.021         1.275          0              0              0
  29  Mirror          2.821          1.764          -0.068         0              90             0
  30  Window          -1.677         1.402          0.365          90             270            0
  31  LightSwitch     -0.606         1.253          1.435          0              180            0
  32  Shelf           2.025          1.440          -1.730         0              0              0
  33  Drawer          0.187          0.455          -1.577         0              0              0
  34  Drawer          0.187          0.163          -1.577         0              0              0
  35  SideTable       0.186          -0.001         -1.643         0              0              0
  36  Dumbbell        1.576          0.083          -1.563         0              0              0
  37  Desk            2.017          0.000          -1.578         0              0              0
  38  GarbageBag      0.806          0.318          1.143          270            186.178        83.264
  39  Shelf           1.570          0.415          -1.563         0              0              0
  40  Shelf           1.612          0.945          -1.744         0              0              0
  41  Shelf           2.265          0.941          -1.722         0              0              0
  42  Shelf           1.572          0.630          -1.563         0              0              0
  43  Shelf           1.569          0.172          -1.563         0              0              0
  44  Shelf           2.267          1.248          -1.722         0              0              0
  45  Shelf           1.614          1.252          -1.745         0              0              0
  46  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: Turn around and go forward to the desk that is on the right.  | STEP 2: Pick up the blue pen that is on the shelf behind the keys.  | STEP 3: Move to the right side of the desk behind the basketball. | STEP 4: Throw the pen on to the desk by the keys.  | STEP 5: Turn around to the night stand that is to the right of the desk.  | STEP 6: Pick up the blue pen that is on the night stand.  | STEP 7: Turn around and go to the right side of the desk behind the basketball. | STEP 8: Throw the pen on to the desk by the other pen. | END