Task: Moving blue pens from a desk to another location

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          2.25           0              0              0
   1  Mug             2.003          0.724          -0.256         0              270            0              59
   2  Pen             -0.782         0.683          1.804          0              90             0              35
   3  Pen             1.905          0.732          0.236          0              270            0              59
   4  Pen             -0.423         0.683          2.364          0              90             0              35
   5  CreditCard      -0.386         0.668          2.728          0              90             0              45
   6  CreditCard      1.662          0.106          -0.916         0              90             0              55
   7  KeyChain        -0.423         0.677          1.991          0              90             0              35
   8  KeyChain        1.515          0.727          -0.256         0              270            0              59
   9  Book            -0.731         1.504          -1.166         0              0              0              49
  10  Laptop          -0.632         1.835          1.348          0              0              0              54
  11  AlarmClock      -0.949         0.669          2.815          0              90             0              45
  12  AlarmClock      -0.872         0.678          1.991          0              90             0              35
  13  Book            -0.603         0.681          1.618          0              90             0              35
  14  Box             -0.493         0.2            -0.286         0              84.024         0
  15  TennisRacket    -1.345         0.288          0.233          30.000         270            180
  16  Pen             -0.513         0.683          1.245          0              90             0              35
  17  AlarmClock      -0.668         0.979          -1.603         0              0              0              50
  18  Pillow          -0.63          1.871          3.047          0              0              0              54
  19  Pillow          -0.829         1.549          -1.533         0              0              0              49
  20  CellPhone       1.807          0.728          -0.748         0              270            0              59
  21  KeyChain        -0.848         0.095          -1.071         0              180            0              53
  22  CreditCard      1.905          0.726          0.482          0              270            0              59
  23  CD              1.710          0.726          -0.256         0              270            0              59
  24  Pencil          1.715          0.318          -0.270         0              90             0              61
  25  Laptop          -0.855         0.666          3.075          0              90             0              45
  26  Mug             -0.745         0.063          2.091          0              0              0              34
  27  DeskLamp        2.016          0.701          0.708          0              0              0
  28  Painting        2.199          1.771          -0.101         90             270            0
  29  GarbageCan      2.022          -0.037         -1.239         0              270            0
  30  Mirror          2.229          1.254          2.664          0              90             0
  31  LightSwitch     2.199          1.258          1.988          0              270            0
  32  Window          1.575          1.559          -1.953         90             180            0
  33  Drawer          -0.551         0.578          2.246          0              90             0
  34  Cabinet         -0.649         0.270          2.247          0              90             0
  35  Desk            -0.655         0.006          1.814          0              90             0
  36  Shelf           1.769          0.184          0.757          0              270            0
  37  Shelf           1.769          0.572          0.757          0              270            0
  38  Shelf           1.769          0.572          0.935          0              270            0
  39  Shelf           1.769          0.378          0.935          0              270            0
  40  Shelf           1.769          0.378          0.757          0              270            0
  41  Shelf           1.769          0.184          0.935          0              270            0
  42  Blinds          1.547          2.434          -1.886         0              0              0
  43  Drawer          -0.553         0.155          2.942          0              90             0
  44  Drawer          -0.553         0.572          2.942          0              90             0
  45  Dresser         -0.665         0.001          2.939          0              90             0
  46  Drawer          -0.553         0.376          2.942          0              90             0
  47  Chair           1.482          0.012          0.223          0              77.085         0
  48  Chair           -0.199         0.012          1.538          0              287.086        0
  49  Bed             -0.866         0.007          -0.919         0              0              0
  50  Dresser         -0.772         0.001          -1.313         0              90             0
  51  Drawer          -0.660         0.830          -1.309         0              90             0
  52  Drawer          -0.660         0.225          -1.309         0              90             0
  53  Drawer          -0.660         0.547          -1.309         0              90             0
  54  Bed             -0.872         1.637          2.188          0              0              0
  55  Drawer          1.685          0.160          -0.805         0              270            0
  56  Drawer          1.685          0.160          -0.378         0              270            0
  57  Drawer          1.685          0.547          -0.805         0              270            0
  58  Drawer          1.685          0.547          -0.378         0              270            0
  59  Desk            1.812          0.003          -0.014         0              270            0
  60  Drawer          1.685          0.354          -0.805         0              270            0
  61  Drawer          1.685          0.354          -0.378         0              270            0
  62  ArmChair        1.712          -0.000         1.532          0              270            0
  63  NorthWall
  64  EastWall
  65  SouthWall
  66  WestWall

Plan:
STEP 1: Turn around walk straight slightly then face the right at the desk | STEP 2: Pick up the blue pen next to the clock | STEP 3: Turn to the right walk straight slightly then back to the left and face the drawers | STEP 4: Place the blue pen on top of the brown dresser stand | STEP 5: Turn left then walk straight slightly and turn to the right and face the desk | STEP 6: Pick up the blue pen next to the keys | STEP 7: Turn to the right walk straight slightly then back to the left and face the drawers | STEP 8: Place the blue pen on top of the brown dresser stand | END