Task: Put two pens down on a bedroom table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.25           0.900          0.75           0              90             0
   1  Bowl            1.226          0.911          0.039          0              270            0              37
   2  Bowl            0.466          0.576          -2.482         0              0              0              46
   3  CD              1.277          0.105          -1.998         0              0              0              27
   4  Pen             1.192          0.388          -0.675         0              270            0              38
   5  CellPhone       -1.563         0.611          -0.223         0              0              0              28
   6  CellPhone       1.224          0.371          -1.963         0              0              0              30
   7  KeyChain        -1.367         0.397          -1.939         0              0              0              52
   8  KeyChain        1.381          0.106          -1.570         0              0              0              33
   9  CreditCard      -1.301         0.395          -2.259         0              0              0              52
  10  Laptop          -0.962         0.609          -0.504         0              180            0              28
  11  AlarmClock      -1.577         1.521          -2.293         0              270            0              40
  12  Book            0.152          0.575          -2.482         0              0              0              46
  13  KeyChain        -1.433         0.397          -2.366         0              180            0              52
  14  BaseballBat     1.436          0.636          1.985          21.882         0              0
  15  BasketBall      1.270          0.12           -1.290         0              345.557        0
  16  Pencil          1.226          0.388          -0.097         0              270            0              38
  17  CellPhone       1.226          0.384          0.191          0              270            0              38
  18  CreditCard      -1.457         0.696          -1.900         0              0              0              51
  19  Laptop          -1.443         0.609          0.337          0              0              0              28
  20  Pillow          -1.170         0.684          -0.990         0              0              0              28
  21  Boots           1.288          0.000          -0.961         0              177.912        0
  22  Pen             -1.611         1.527          -2.004         0              270            0              40
  23  AlarmClock      -1.519         0.696          -2.191         0              0              0              51
  24  CD              -1.269         0.699          -1.610         0              0              0              51
  25  Bowl            1.269          0.504          -1.983         0              270            0              29
  26  Drawer          0.980          0.271          -1.963         0              0              0
  27  Drawer          0.980          0.139          -1.963         0              0              0
  28  Bed             -1.209         0.016          -0.266         0              180            1.624
  29  Shelf           1.220          0.859          -1.802         0              270            0
  30  Drawer          0.980          0.404          -1.963         0              0              0
  31  Drawer          0.980          0.272          -1.639         0              0              0
  32  Mirror          0.740          1.491          2.099          0              0              0
  33  Drawer          0.980          0.139          -1.639         0              0              0
  34  Drawer          0.980          0.404          -1.639         0              0              0
  35  Chair           0.280          -0.001         -2.264         0              180            0
  36  GarbageCan      -1.542         0.013          1.919          2.249          116.925        355.175
  37  Shelf           1.259          0.903          -0.269         0              270            0
  38  Shelf           1.259          0.375          -0.263         0              270            0
  39  Shelf           1.259          1.402          -0.259         0              270            0
  40  Shelf           -1.577         1.513          -2.025         0              270            0
  41  LightSwitch     -0.755         1.176          2.099          0              180            0
  42  DeskLamp        -1.489         0.669          -2.419         0              0              0
  43  Window          0.243          0.963          -2.678         90             0              0
  44  Window          -0.361         0.963          -2.679         90             0              0
  45  Window          -0.962         0.963          -2.678         90             0              0
  46  Desk            0.445          0.001          -2.430         0              0              0
  47  Blinds          -0.349         2.186          -2.685         0              0              0
  48  Blinds          0.250          2.186          -2.685         0              0              0
  49  Blinds          -0.952         2.186          -2.685         0              0              0
  50  Drawer          -1.314         0.163          -2.051         0              90             0
  51  SideTable       -1.444         -0.001         -2.051         0              90             0
  52  Drawer          -1.314         0.455          -2.051         0              90             0
  53  NorthWall
  54  EastWall
  55  SouthWall
  56  WestWall

Plan:
STEP 1: Turn around, walk left and finally turn right so you are facing the bedroom table | STEP 2: Pick up a pen off of the shelf | STEP 3: Stay where you are and look down at the bedroom table | STEP 4: Put the pen down on the bedroom table | STEP 5: Turn around and maneuver until you are facing the pair of boots on the floor | STEP 6: Pick up a pen from the shelf next to the boots | STEP 7: Turn around and go back to the bedroom table | STEP 8: Put the second pen down on the bedroom table | END