Task: place two black pens in desk drawer

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.900          -1.25          0              270            0
   1  Bowl            -0.990         0.863          -2.373         0              0              0              60
   2  Pen             -1.594         0.867          -2.311         0              0              0              60
   3  Pen             0.459          0.818          -2.507         0              0              0              53
   4  Pencil          -0.587         0.865          -2.248         0              0              0              60
   5  Pencil          0.459          0.815          -2.304         0              0              0              53
   6  CreditCard      -1.319         0.088          -2.401         0              0              0              57
   7  CreditCard      1.494          0.823          -1.776         0              270            0              51
   8  Book            -1.493         0.087          -2.325         0              0              0              57
   9  RemoteControl   -1.232         0.653          -2.287         0              0              0              59
  10  RemoteControl   -0.061         0.813          -2.372         0              0              0              53
  11  Laptop          0.241          0.772          1.496          0              0              0              31
  12  AlarmClock      0.355          0.812          -2.304         0              0              0              53
  13  AlarmClock      1.467          0.824          -1.673         0              270            0              51
  14  Book            -1.393         0.861          -2.498         0              0              0              60
  15  Cloth           1.303          0.0            -0.696         0              303.212        0
  16  Cloth           1.273          0.0            -0.969         0              0              0
  17  CellPhone       -1.192         0.861          -2.436         0              0              0              60
  18  Pencil          0.146          0.815          -2.304         0              0              0              53
  19  Laptop          0.241          0.772          1.819          0              0              0              31
  20  AlarmClock      -0.061         0.812          -2.236         0              0              0              53
  21  CreditCard      -1.580         0.652          -2.287         0              0              0              59
  22  KeyChain        -0.996         1.363          -2.468         0              0              0              56
  23  TennisRacket    -1.704         0.345          1.743          345.000        90             180
  24  RemoteControl   -1.406         0.373          -2.287         0              0              0              58
  25  Pillow          1.073          0.876          1.326          0              262.063        0              31
  26  CD              1.521          0.817          -1.727         0              0              0              51
  27  CD              0.527          0.806          -2.485         0              0              0              53
  28  CD              -1.192         0.861          -2.248         0              0              0              60
  29  Pen             0.042          0.818          -2.236         0              90             0              53
  30  Bowl            -0.386         0.863          -2.498         0              0              0              60
  31  Bed             0.270          0.001          1.331          0              90             0
  32  LaundryHamper   -1.329         0.001          1.829          0              180            0
  33  Television      -1.664         1.479          -0.912         0              90             0
  34  DeskLamp        0.049          0.815          -2.481         0              0              0
  35  LightSwitch     -1.799         1.213          0.680          0              90             0
  36  Painting        0.492          1.684          -2.629         90             0              0
  37  Poster          -1.799         1.690          -1.491         90             270            0
  38  GarbageCan      1.306          -0.001         -2.451         0              317.376        0
  39  Mirror          1.5            1.361          -0.542         0              90             0
  40  Window          1.721          1.365          -1.597         90             270            0
  41  Shelf           -1.605         0.435          -0.686         0              90             0
  42  Shelf           -1.613         1.154          -0.904         0              90             0
  43  ShelvingUnit    -1.611         0.005          -0.904         0              90             0
  44  Shelf           -1.605         0.719          -1.122         0              90             0
  45  Shelf           -1.605         0.435          -1.122         0              90             0
  46  Shelf           -1.605         1.006          -1.122         0              90             0
  47  Shelf           -1.605         0.148          -0.686         0              90             0
  48  Shelf           -1.605         0.149          -1.122         0              90             0
  49  Shelf           -1.605         1.006          -0.686         0              90             0
  50  Shelf           -1.605         0.719          -0.686         0              90             0
  51  SideTable       1.484          0.001          -1.481         0              270            0
  52  Blinds          1.699          2.096          -1.575         0              270            0
  53  Desk            0.244          0.004          -2.356         0              0              0
  54  Chair           -0.626         1.439          -2.199         0              171.006        0
  55  Chair           0.220          1.466          -2.214         0              188.269        0
  56  Shelf           -0.978         1.387          -2.479         0              0              0
  57  Drawer          -1.389         0.197          -2.261         0              0              0
  58  Drawer          -1.389         0.480          -2.261         0              0              0
  59  Drawer          -1.389         0.731          -2.261         0              0              0
  60  Desk            -0.973         1.162          -2.351         0              0              0
  61  NorthWall
  62  EastWall
  63  SouthWall
  64  WestWall

Plan:
STEP 1: turn left, go to table to the left with two clocks | STEP 2: pick up black pen to the left of clock on the right | STEP 3: turn right, go to right of chair at desk to the left | STEP 4: open drawer to the right of desk chair, place pen behind remote in drawer, close drawer | STEP 5: look up to desk with CD | STEP 6: pick up black pen from desk | STEP 7: go to desk drawer to the right of chair | STEP 8: open drawer to the right of desk chair, place pen behind remote in drawer, close drawer | END