Task: Move the pen from the grey table to 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           1.25           0.900          0.25           0              0              0
   1  CellPhone       -1.085         0.680          -2.508         0              0              0              36
   2  Pen             -0.276         0.625          0.988          0              180            0              35
   3  Pen             0.033          0.624          0.910          0              180            0              35
   4  Pen             0.188          0.625          0.910          0              180            0              35
   5  CreditCard      -1.322         0.675          -2.553         0              0              0              36
   6  CreditCard      0.818          0.675          -2.553         0              0              0              37
   7  Book            -0.121         0.619          0.988          0              180            0              35
   8  AlarmClock      -0.121         0.621          0.832          0              180            0              35
   9  Laptop          -0.300         0.554          -0.988         0              0              0              23
  10  Box             2.453          0.222          -0.041         0              0              0
  11  Book            0.106          0.613          0.717          0              163.530        0              35
  12  KeyChain        -0.431         0.621          1.066          0              0              0              35
  13  Pillow          0.192          0.607          -2.307         0              0              0              23
  14  BaseballBat     0.419          0.666          1.044          10.360         0              0
  15  Pencil          0.062          0.617          1.015          0              225            0              35
  16  CellPhone       -0.300         0.557          -1.880         0              0              0              23
  17  CreditCard      1.114          0.679          -2.553         0              0              0              37
  18  Pen             -0.431         0.624          0.755          0              270            0              35
  19  Laptop          -0.661         0.613          0.778          0              165.000        0              35
  20  AlarmClock      -1.236         0.673          -2.425         0              29.999         0              37
  21  CD              -0.276         0.618          0.599          0              180            0              35
  22  Mug             -0.586         0.616          0.599          0              270            0              35
  23  Bed             -0.118         -0.001         -1.699         0              180            0
  24  Mirror          2.644          1.347          0.384          0              90             0
  25  GarbageCan      2.467          -0.029         0.936          0              271.107        0
  26  LightSwitch     0.333          1.256          1.149          0              180            0
  27  DeskLamp        0.915          0.670          -2.435         0              0              0
  28  Painting        0.003          1.562          -2.687         90             180            0
  29  Window          -1.559         1.414          -1.356         90             270            0
  30  Window          -1.559         1.414          -0.057         90             270            0
  31  Shelf           -0.276         0.351          0.832          0              0              0
  32  Shelf           -0.276         0.099          0.832          0              0              0
  33  Blinds          -1.462         2.157          -1.343         0              90             0
  34  Blinds          -1.462         2.157          -0.046         0              90             0
  35  Desk            -0.276         -0.001         0.833          0              0              0
  36  SideTable       -1.204         0.002          -2.456         0              0              0
  37  SideTable       0.948          0.002          -2.456         0              0              0
  38  Drawer          0.948          0.166          -2.389         0              0              0
  39  Drawer          -1.204         0.166          -2.389         0              0              0
  40  Drawer          0.948          0.458          -2.389         0              0              0
  41  Drawer          -1.204         0.458          -2.389         0              0              0
  42
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: Turn left, walk to the grey table on the right | STEP 2: Grab the pen near the door | STEP 3: Turn left, walk to the window, turn left, walk to the night stand | STEP 4: Put the pen down on the night stand | END