Task: Place the pen from the desk to the cabinet

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.75          0.909          -3.5           0              270            0
   1  Mug             -0.453         0.801          -3.920         0              0              0              42
   2  CD              -3.539         0.980          -3.673         0              0              0              45
   3  CellPhone       -3.466         0.981          -4.075         0              0              0              45
   4  CellPhone       -3.750         0.809          -3.790         0              0              0              43
   5  Pen             -0.862         0.809          -3.703         0              90             0              42
   6  Pen             -0.453         0.809          -4.029         0              0              0              42
   7  Pen             -0.862         0.805          -4.137         0              0              0              42
   8  Pencil          -0.249         0.807          -3.703         0              0              0              42
   9  CreditCard      -0.774         0.542          -3.713         0              0              0              36
  10  CreditCard      -1.474         0.803          -3.920         0              0              0              42
  11  Pillow          -2.981         0.722          -0.931         0              0              0              27
  12  Pillow          -2.559         0.722          -2.080         0              0              0              27
  13  AlarmClock      -3.539         0.981          -3.874         0              0              0              45
  14  Book            -3.760         0.980          -3.673         0              0              0              45
  15  CellPhone       -3.191         0.620          -1.793         0              0              0              27
  16  Laptop          -2.981         0.618          -1.506         0              0              0              27
  17  CreditCard      -3.908         0.981          -3.271         0              0              0              45
  18  AlarmClock      -0.657         0.803          -3.811         0              0              0              42
  19  KeyChain        -3.582         0.420          -3.000         0              0              0              53
  20  TeddyBear       -2.567         0.575          -0.386         357.948        14.682         7.781          27
  21  BaseballBat     -1.155         0.033          -3.997         90             59.999         0              Floor|-01.88|
  22  Pencil          -1.066         0.807          -4.246         0              0              0              42
  23  Pillow          -3.191         0.722          -2.080         0              0              0              27
  24  CD              -1.270         0.799          -4.029         0              0              0              42
  25  Pen             -0.329         0.548          -3.676         0              0              0              36
  26  Mug             -3.539         0.979          -4.276         0              0              0              45
  27  Bed             -2.980         0.009          -1.177         0              0              0
  28  LightSwitch     -1.620         1.351          0.0            0              180            0
  29  DeskLamp        -1.529         0.790          -4.298         0              0              0
  30  Mirror          -0.002         1.251          -2.592         0              90             0
  31  GarbageCan      -1.843         -0.017         -3.897         0              279.992        0
  32  Window          0.209          1.180          -1.504         90             270            0
  33  Drawer          -0.503         0.067          -4.188         0              180            0
  34  Drawer          -0.502         0.226          -3.799         0              0              0
  35  Drawer          -0.502         0.385          -3.799         0              0              0
  36  CoffeeTable     -0.503         0.009          -3.990         0              0              0
  37  Drawer          -0.502         0.067          -3.799         0              0              0
  38  Blinds          0.163          2.196          -1.495         0              270            0
  39  TableTopDecor   -3.586         0.996          -3.055         0              180            0
  40  Drawer          -0.503         0.385          -4.188         0              180            0
  41  Drawer          -0.503         0.226          -4.188         0              180            0
  42  Desk            -0.862         0.006          -4.028         0              0              0
  43  Drawer          -3.609         0.876          -4.055         0              90             0
  44  Drawer          -3.608         0.112          -3.261         0              90             0
  45  Dresser         -3.653         0.008          -3.658         0              90             0
  46  Drawer          -3.609         0.688          -3.261         0              90             0
  47  Drawer          -3.609         0.300          -3.261         0              90             0
  48  Drawer          -3.609         0.494          -4.055         0              90             0
  49  Drawer          -3.609         0.300          -4.055         0              90             0
  50  Drawer          -3.608         0.112          -4.055         0              90             0
  51  Drawer          -3.609         0.688          -4.055         0              90             0
  52  Drawer          -3.609         0.876          -3.261         0              90             0
  53  Drawer          -3.609         0.494          -3.261         0              90             0
  54  NorthWall
  55  EastWall
  56  SouthWall
  57  WestWall

Plan:
STEP 1: Turn right then head to the desk  | STEP 2: Pick up the pen on the desk | STEP 3: Turn right then head to the cabinet on your right  | STEP 4: Put the pen on the cabinet | END