Task: Place two pens into the top drawer of the white cabinet.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.0            0.910          1.5            0              0              0
   1  Mug             2.784          0.806          3.494          0              90             0              39
   2  Mug             2.889          0.805          2.833          0              0              0              39
   3  CellPhone       2.889          0.807          2.392          0              0              0              39
   4  Pen             -0.749         0.919          3.799          0              0              0              28
   5  Pen             -0.946         0.919          4.35           0              0              0              28
   6  CreditCard      -1.078         0.913          4.166          0              0              0              28
   7  CreditCard      -0.881         0.913          4.166          0              0              0              28
   8  AlarmClock      2.680          0.815          2.613          0              0              0              39
   9  Laptop          -0.946         0.911          4.900          0              0              0              28
  10  Laptop          2.185          0.397          -0.681         0              270            0              43
  11  Book            2.618          0.458          0.526          0              0              0              42
  12  AlarmClock      2.680          0.815          2.833          0              0              0              39
  13  CellPhone       -1.073         0.714          1.690          0              0              0              25
  14  Bowl            2.529          0.845          1.017          0              0              0              40
  15  CreditCard      2.367          0.807          2.392          0              0              0              39
  16  KeyChain        -1.012         0.914          3.982          0              0              0              28
  17  RemoteControl   -1.078         0.914          3.799          0              0              0              28
  18  Laptop          2.680          0.805          3.715          0              0              0              39
  19  Pencil          2.609          0.846          1.017          0              0              0              40
  20  Pillow          -0.959         0.752          2.977          0              0              0              25
  21  Pillow          -0.116         0.785          1.973          0              0              0              25
  22  CD              2.770          0.842          0.755          0              0              0              40
  23  Pen             2.471          0.813          3.494          0              0              0              39
  24  Mug             -0.749         0.911          3.982          0              0              0              28
  25  Bed             -0.594         0.009          2.298          0              0              0
  26  Mirror          -1.184         1.603          4.348          0              0              0
  27  Television      2.738          1.330          0.622          0              270            0
  28  CounterTop      -0.890         0.951          4.349          0              0              0
  29  LightSwitch     0.800          1.371          5.245          0              90             0
  30  Painting        2.992          1.529          3.415          90             270            0
  31  Painting        2.992          1.529          2.553          90             270            0
  32  DeskLamp        2.625          0.772          -1.469         0              0              0
  33  DeskLamp        2.668          0.810          3.082          0              358.947        0
  34  GarbageCan      -0.626         -0.009         3.742          0              0              0
  35  Window          -0.453         1.450          -2.058         90             180            0
  36  SideTable       2.565          0.009          -1.534         0              0              0
  37  ArmChair        -1.277         0.009          -1.169         0              90             0
  38  Blinds          -0.5           2.174          -1.957         0              0              0
  39  Desk            2.572          0.011          3.054          0              270            0
  40  SideTable       2.645          0.009          0.624          0              270            0
  41  Drawer          2.525          0.214          0.624          0              270            0
  42  Drawer          2.525          0.578          0.624          0              270            0
  43  ArmChair        2.424          0.009          -0.564         0              270            0
  44  LaundryHamper   3.457          0.009          4.555          0              270            0
  45  Chair           2.591          0.020          2.015          0              0              0
  46  Chair           2.184          0.020          3.440          0              120.016        0
  47  Chair           2.211          0.020          2.592          0              74.981         0
  48  NorthWall
  49  EastWall
  50  SouthWall
  51  WestWall

Plan:
STEP 1: Turn left then head towards the door, turn left then head towards the bathroom counter. | STEP 2: From the counter pick up the pen on the left side of the cup. | STEP 3: Turn around then head towards the table, turn right then head towards the green chair, then turn left to face the television. | STEP 4: Place the pen into the top drawer on the left side of the white chest, then close the door. | STEP 5: Turn left then head towards the door, turn left then head towards the bathroom counter. | STEP 6: From the counter pick up the pen next to the credit cards. | STEP 7: Turn around then head towards the table, turn right then head towards the green chair, then turn left to face the television. | STEP 8: Place the pen into the top drawer next to the other other one, then close the door. | END