Task: Put two pens on the night stand.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.900          -0.25          0              270            0
   1  Mug             0.188          0.618          0.755          0              180            0              38
   2  Mug             1.173          0.677          -2.374         0              0              0              40
   3  CD              -1.204         0.082          -2.375         0              0              0              42
   4  CD              0.033          0.619          0.599          0              180            0              38
   5  CellPhone       -1.204         0.680          -2.553         0              0              0              39
   6  Pen             0.188          0.625          0.832          0              180            0              38
   7  CreditCard      0.818          0.679          -2.374         0              0              0              40
   8  Book            -0.300         0.555          -1.657         0              90             0              26
   9  Book            -0.117         0.555          -1.211         0              0              0              26
  10  AlarmClock      1.114          0.681          -2.553         0              0              0              40
  11  Pillow          0.064          0.653          -1.657         0              0              0              26
  12  Laptop          0.247          0.554          -1.211         0              0              0              26
  13  Box             2.453          0.222          -0.041         0              0              0
  14  Book            -0.121         0.617          0.988          0              180            0              38
  15  KeyChain        -1.117         0.376          -2.375         0              0              0              44
  16  Pillow          -0.483         0.653          -1.880         0              0              0              26
  17  BaseballBat     0.419          0.666          1.044          10.360         0              0
  18  Pencil          0.033          0.625          0.755          0              180            0              38
  19  CellPhone       0.188          0.620          0.599          0              180            0              38
  20  CreditCard      -1.144         0.679          -2.464         0              0              0              39
  21  Pen             -0.276         0.625          0.988          0              180            0              38
  22  Laptop          -0.661         0.613          0.778          0              165.000        0              38
  23  AlarmClock      -0.121         0.621          0.755          0              180            0              38
  24  CD              -0.121         0.619          0.599          0              180            0              38
  25  Mug             -0.741         0.616          0.988          0              90             0              38
  26  Bed             -0.118         -0.001         -1.699         0              180            0
  27  Mirror          2.644          1.347          0.384          0              90             0
  28  GarbageCan      2.467          -0.029         0.936          0              271.107        0
  29  LightSwitch     0.333          1.256          1.149          0              180            0
  30  DeskLamp        0.915          0.670          -2.435         0              0              0
  31  Painting        0.003          1.562          -2.687         90             180            0
  32  Window          -1.559         1.414          -1.356         90             270            0
  33  Window          -1.559         1.414          -0.057         90             270            0
  34  Shelf           -0.276         0.351          0.832          0              0              0
  35  Shelf           -0.276         0.099          0.832          0              0              0
  36  Blinds          -1.462         2.157          -1.343         0              90             0
  37  Blinds          -1.462         2.157          -0.046         0              90             0
  38  Desk            -0.276         -0.001         0.833          0              0              0
  39  SideTable       -1.204         0.002          -2.456         0              0              0
  40  SideTable       0.948          0.002          -2.456         0              0              0
  41  Drawer          0.948          0.166          -2.389         0              0              0
  42  Drawer          -1.204         0.166          -2.389         0              0              0
  43  Drawer          0.948          0.458          -2.389         0              0              0
  44  Drawer          -1.204         0.458          -2.389         0              0              0
  45
  46  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: Turn right and walk to the table in front of you and take a half step to your right. | STEP 2: Pick up the pen to the left of the book. | STEP 3: Turn right and walk to the wall then turn right and walk to the other wall then turn right to face a night stand. | STEP 4: Put the pen to the left of the mug on the night stand. | STEP 5: Go back to where you got the first pen but take a step right from that spot so you are looking at the other side of the table. | STEP 6: Pick up the pen that's above the mug. | STEP 7: Go back to where you put the first pen. | STEP 8: Stand this pen up so it's leaning against the alarm clock. | END