Task: place two pens in the drawer under the tv stand

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.0            0.910          0.75           0              0              0
   1  CellPhone       -0.749         0.913          4.35           0              0              0              30
   2  CellPhone       -0.881         0.913          4.533          0              0              0              30
   3  Pen             2.367          0.813          3.715          0              0              0              41
   4  Pen             2.545          0.751          -1.731         0              0              0              50
   5  Pen             2.471          0.813          3.274          0              0              0              41
   6  KeyChain        -0.881         0.914          4.900          0              90             0              30
   7  RemoteControl   -0.749         0.914          4.533          0              0              0              30
   8  RemoteControl   2.447          0.747          -1.588         0              0              0              50
   9  AlarmClock      -0.946         0.921          4.166          0              0              0              30
  10  AlarmClock      2.545          0.753          -1.300         0              0              0              50
  11  Laptop          -0.815         0.911          4.717          0              0              0              30
  12  Laptop          2.275          0.397          -0.594         0              270            0              45
  13  Book            -1.073         0.713          2.256          0              0              0              27
  14  AlarmClock      2.471          0.815          3.053          0              0              0              41
  15  CellPhone       2.262          0.807          3.274          0              0              0              41
  16  Bowl            2.784          0.809          2.833          0              0              0              41
  17  CreditCard      2.660          0.458          0.624          0              0              0              44
  18  KeyChain        2.770          0.843          0.755          0              180            0              42
  19  RemoteControl   2.533          0.460          0.526          0              0              0              44
  20  Laptop          -0.594         0.712          1.973          0              0              0              27
  21  Pencil          2.770          0.846          0.492          0              0              0              42
  22  Pillow          -0.116         0.785          1.690          0              0              0              27
  23  Pillow          -1.073         0.785          1.973          0              0              0              27
  24  CD              2.364          0.399          -0.333         0              270            0              45
  25  Pen             2.367          0.813          3.494          0              0              0              41
  26  Mug             2.262          0.805          2.833          0              0              0              41
  27  Bed             -0.594         0.009          2.298          0              0              0
  28  Mirror          -1.184         1.603          4.348          0              0              0
  29  Television      2.738          1.330          0.622          0              270            0
  30  CounterTop      -0.890         0.951          4.349          0              0              0
  31  LightSwitch     0.800          1.371          5.245          0              90             0
  32  Painting        2.992          1.529          3.415          90             270            0
  33  Painting        2.992          1.529          2.553          90             270            0
  34  DeskLamp        2.625          0.772          -1.469         0              0              0
  35  DeskLamp        2.668          0.810          3.082          0              358.947        0
  36  GarbageCan      -0.626         -0.009         3.742          0              0              0
  37  Window          -0.453         1.450          -2.058         90             180            0
  38  SideTable       2.565          0.009          -1.534         0              0              0
  39  ArmChair        -1.277         0.009          -1.169         0              90             0
  40  Blinds          -0.5           2.174          -1.957         0              0              0
  41  Desk            2.572          0.011          3.054          0              270            0
  42  SideTable       2.645          0.009          0.624          0              270            0
  43  Drawer          2.525          0.214          0.624          0              270            0
  44  Drawer          2.525          0.578          0.624          0              270            0
  45  ArmChair        2.424          0.009          -0.564         0              270            0
  46  LaundryHamper   3.457          0.009          4.555          0              270            0
  47  Chair           2.591          0.020          2.015          0              0              0
  48  Chair           2.184          0.020          3.440          0              120.016        0
  49  Chair           2.211          0.020          2.592          0              74.981         0
  50
  51  NorthWall
  52  EastWall
  53  SouthWall
  54  WestWall

Plan:
STEP 1: move forward to the table  | STEP 2: pick up a pen from the table | STEP 3: turn right and move to the tv stand  | STEP 4: place the pen in the drawer under the tv stand | STEP 5: move left to the dining table | STEP 6: pick up a pen on the table | STEP 7: move right to the drawer under the tv stand | STEP 8: place the pen in it | END