Task: To put the pen on the bedside table.

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          -0.25          0              90             0
   1  Mug             0.996          0.677          -2.598         0              90             0              34
   2  CD              0.033          0.618          0.910          0              180            0              32
   3  CellPhone       -1.381         0.680          -2.419         0              0              0              33
   4  Pencil          -0.431         0.623          0.910          0              180            0              32
   5  KeyChain        -1.117         0.084          -2.375         0              0              0              36
   6  Pillow          0.247          0.653          -1.211         0              0              0              20
   7  Box             2.453          0.222          -0.041         0              0              0
   8  Book            -1.085         0.678          -2.508         0              0              0              33
   9  KeyChain        -1.290         0.084          -2.423         0              90             0              36
  10  Pillow          -0.300         0.653          -1.211         0              0              0              20
  11  BaseballBat     0.419          0.666          1.044          10.360         0              0
  12  Pencil          0.188          0.625          0.910          0              180            0              32
  13  CellPhone       -0.276         0.620          0.833          0              180            0              32
  14  CreditCard      -1.322         0.679          -2.598         0              0              0              33
  15  Pen             -0.121         0.624          0.677          0              180            0              32
  16  Laptop          0.247          0.554          -1.657         0              0              0              20
  17  AlarmClock      -0.121         0.621          0.988          0              180            0              32
  18  CD              0.995          0.374          -2.399         0              0              0              37
  19  Mug             -1.144         0.677          -2.374         0              0              0              33
  20  Bed             -0.118         -0.001         -1.699         0              180            0
  21  Mirror          2.644          1.347          0.384          0              90             0
  22  GarbageCan      2.467          -0.029         0.936          0              271.107        0
  23  LightSwitch     0.333          1.256          1.149          0              180            0
  24  DeskLamp        0.915          0.670          -2.435         0              0              0
  25  Painting        0.003          1.562          -2.687         90             180            0
  26  Window          -1.559         1.414          -1.356         90             270            0
  27  Window          -1.559         1.414          -0.057         90             270            0
  28  Shelf           -0.276         0.351          0.832          0              0              0
  29  Shelf           -0.276         0.099          0.832          0              0              0
  30  Blinds          -1.462         2.157          -1.343         0              90             0
  31  Blinds          -1.462         2.157          -0.046         0              90             0
  32  Desk            -0.276         -0.001         0.833          0              0              0
  33  SideTable       -1.204         0.002          -2.456         0              0              0
  34  SideTable       0.948          0.002          -2.456         0              0              0
  35  Drawer          0.948          0.166          -2.389         0              0              0
  36  Drawer          -1.204         0.166          -2.389         0              0              0
  37  Drawer          0.948          0.458          -2.389         0              0              0
  38  Drawer          -1.204         0.458          -2.389         0              0              0
  39
  40  NorthWall
  41  EastWall
  42  SouthWall
  43  WestWall

Plan:
STEP 1: Turn to the left and walk to the table.  | STEP 2: Take the pen on the lower edge of the table.  | STEP 3: Turn to the left and walk across the room, then turn to the right and walk across the room to the table.  | STEP 4: Place the pen on the lower edge of the table below the cell phone. | END