Task: Put two pens on a nightstand.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.75           0.900          -1.5           0              180            0
   1  Mug             -0.276         0.618          0.833          0              0              0              37
   2  CD              -0.276         0.619          0.677          0              180            0              37
   3  Pen             -0.586         0.625          0.910          0              180            0              37
   4  Pen             -0.741         0.624          0.988          0              180            0              37
   5  Pencil          -0.431         0.625          0.755          0              180            0              37
   6  Pencil          0.952          0.380          -2.399         0              0              0              42
   7  CreditCard      -1.204         0.082          -2.446         0              0              0              41
   8  KeyChain        -0.741         0.621          0.833          0              180            0              37
   9  AlarmClock      -0.586         0.620          0.677          0              180            0              37
  10  AlarmClock      -0.431         0.621          0.988          0              180            0              37
  11  Laptop          -0.483         0.554          -2.103         0              0              0              25
  12  Box             2.453          0.222          -0.041         0              0              0
  13  Book            0.033          0.617          0.988          0              180            0              37
  14  KeyChain        -1.085         0.677          -2.553         0              0              0              38
  15  Pillow          0.192          0.607          -2.307         0              0              0              25
  16  BaseballBat     0.419          0.666          1.044          10.360         0              0
  17  Pencil          -0.276         0.623          0.755          0              180            0              37
  18  CellPhone       0.430          0.557          -1.434         0              0              0              25
  19  CreditCard      0.909          0.082          -2.351         0              0              0              42
  20  Pen             -0.121         0.624          0.832          0              180            0              37
  21  Laptop          0.247          0.554          -1.211         0              0              0              25
  22  AlarmClock      -1.236         0.673          -2.425         0              29.999         0              39
  23  CD              -0.586         0.619          0.988          0              180            0              37
  24  Mug             -0.741         0.618          0.755          0              270            0              37
  25  Bed             -0.118         -0.001         -1.699         0              180            0
  26  Mirror          2.644          1.347          0.384          0              90             0
  27  GarbageCan      2.467          -0.029         0.936          0              271.107        0
  28  LightSwitch     0.333          1.256          1.149          0              180            0
  29  DeskLamp        0.915          0.670          -2.435         0              0              0
  30  Painting        0.003          1.562          -2.687         90             180            0
  31  Window          -1.559         1.414          -1.356         90             270            0
  32  Window          -1.559         1.414          -0.057         90             270            0
  33  Shelf           -0.276         0.351          0.832          0              0              0
  34  Shelf           -0.276         0.099          0.832          0              0              0
  35  Blinds          -1.462         2.157          -1.343         0              90             0
  36  Blinds          -1.462         2.157          -0.046         0              90             0
  37  Desk            -0.276         -0.001         0.833          0              0              0
  38  SideTable       -1.204         0.002          -2.456         0              0              0
  39  SideTable       0.948          0.002          -2.456         0              0              0
  40  Drawer          0.948          0.166          -2.389         0              0              0
  41  Drawer          -1.204         0.166          -2.389         0              0              0
  42  Drawer          0.948          0.458          -2.389         0              0              0
  43  Drawer          -1.204         0.458          -2.389         0              0              0
  44
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: Turn around, walk ahead and veer left to the counter. | STEP 2: Pick up the pen closest to the back wall. | STEP 3: Turn around and go to the right of the bed to the nightstand. | STEP 4: Place the pen on the front left corner of the nightstand. | STEP 5: Turn around and walk back to the counter. | STEP 6: Pick up the pen that's furthest to the right. | STEP 7: Turn around and walk back to the nightstand. | STEP 8: Put the pen on top of the other pen. | END