Task: Put the pens on the 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          0.0            0              180            0
   1  CD              1.517          0.065          -1.338         0              0              0              39
   2  CD              0.102          0.376          -1.676         0              180            0              29
   3  CellPhone       -0.975         0.508          -1.115         0              0              0              22
   4  Pen             0.153          0.652          -1.664         0              0              0              31
   5  Pencil          0.289          0.650          -1.744         0              0              0              31
   6  KeyChain        1.522          0.749          -1.357         0              90             0              33
   7  KeyChain        1.773          1.138          -1.614         0              0              0              41
   8  Pillow          -1.142         0.588          -0.872         0              0              0              22
   9  AlarmClock      2.256          0.778          -1.684         0              0              0              37
  10  Book            2.058          0.740          -1.386         0              270            0              33
  11  Pencil          1.603          0.781          -1.649         0              0              0              36
  12  BasketBall      1.144          0.120          -1.656         0              23.931         0              Floor|-00.24|
  13  Laptop          -0.794         0.495          -0.303         0              61.899         0              22
  14  Pen             2.353          0.783          -1.649         0              0              0              37
  15  KeyChain        2.508          0.749          -1.318         0              0              0              33
  16  CreditCard      0.253          0.120          -1.676         0              180            0              30
  17  CellPhone       -0.809         0.508          -1.115         0              0              0              22
  18  CD              2.343          0.748          -1.318         0              0              0              33
  19  AlarmClock      1.489          1.138          -1.649         0              0              0              41
  20  Pillow          -1.154         0.54           -1.607         0              13.257         0              22
  21  Chair           2.161          0.008          -1.129         0              256.825        0
  22  Bed             -0.809         0.010          -0.891         0              180            0
  23  DeskLamp        0.047          0.668          -1.761         0              0              0
  24  GarbageCan      2.657          -0.021         1.275          0              0              0
  25  Mirror          2.821          1.764          -0.068         0              90             0
  26  Window          -1.677         1.402          0.365          90             270            0
  27  LightSwitch     -0.606         1.253          1.435          0              180            0
  28  Shelf           2.025          1.440          -1.730         0              0              0
  29  Drawer          0.187          0.455          -1.577         0              0              0
  30  Drawer          0.187          0.163          -1.577         0              0              0
  31  SideTable       0.186          -0.001         -1.643         0              0              0
  32  Dumbbell        1.576          0.083          -1.563         0              0              0
  33  Desk            2.017          0.000          -1.578         0              0              0
  34  GarbageBag      0.806          0.318          1.143          270            186.178        83.264
  35  Shelf           1.570          0.415          -1.563         0              0              0
  36  Shelf           1.612          0.945          -1.744         0              0              0
  37  Shelf           2.265          0.941          -1.722         0              0              0
  38  Shelf           1.572          0.630          -1.563         0              0              0
  39  Shelf           1.569          0.172          -1.563         0              0              0
  40  Shelf           2.267          1.248          -1.722         0              0              0
  41  Shelf           1.614          1.252          -1.745         0              0              0
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: Walk forward to the small side table by the bed | STEP 2: Pick up the blue pen from the side table | STEP 3: Turn left and walk up to the side of the desk | STEP 4: Put the pen down on the desk next to the keys | STEP 5: Walk forward and around to the far left side of the desk | STEP 6: Pick up the blue pen behind the CD from the desk | STEP 7: Turn right and walk back around to the right side of the desk | STEP 8: Put the pen on the desk next to the other pen | END