Task: Place a pen on a dresser.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.5           0.909          -3.75          0              180            0
   1  Mug             -1.066         0.798          -3.703         0              0              0              39
   2  CD              -1.831         0.063          -3.929         0              279.990        0              28
   3  CD              -3.638         0.614          -2.999         0              0              0              43
   4  CellPhone       -3.613         0.979          -3.271         0              0              0              42
   5  CellPhone       -3.613         0.979          -3.673         0              0              0              42
   6  Pen             -0.862         0.805          -4.137         0              0              0              39
   7  CreditCard      -0.657         0.800          -3.811         0              0              0              39
   8  KeyChain        -0.329         0.543          -3.731         0              0              0              33
   9  Book            -0.453         0.804          -3.811         0              0              0              39
  10  Book            -3.582         0.419          -3.978         0              0              0              45
  11  Book            -3.693         0.045          -4.164         0              0              0              47
  12  CellPhone       -2.770         0.620          -0.643         0              0              0              24
  13  Laptop          -2.981         0.618          -1.506         0              0              0              24
  14  CreditCard      -0.453         0.800          -4.246         0              0              0              39
  15  AlarmClock      -0.249         0.800          -3.811         0              0              0              39
  16  KeyChain        -0.685         0.543          -3.713         0              0              0              33
  17  TeddyBear       -2.567         0.575          -0.386         357.948        14.682         7.781          24
  18  BaseballBat     -1.155         0.033          -3.997         90             59.999         0              Floor|-01.88|
  19  Pencil          -0.249         0.807          -4.029         0              0              0              39
  20  Pillow          -2.981         0.722          -2.080         0              0              0              24
  21  CD              -0.350         0.029          -3.779         0              0              0              31
  22  Pen             -0.507         0.548          -3.768         0              0              0              33
  23  Mug             -3.760         0.977          -3.673         0              0              0              42
  24  Bed             -2.980         0.009          -1.177         0              0              0
  25  LightSwitch     -1.620         1.351          0.0            0              180            0
  26  DeskLamp        -1.529         0.790          -4.298         0              0              0
  27  Mirror          -0.002         1.251          -2.592         0              90             0
  28  GarbageCan      -1.843         -0.017         -3.897         0              279.992        0
  29  Window          0.209          1.180          -1.504         90             270            0
  30  Drawer          -0.503         0.067          -4.188         0              180            0
  31  Drawer          -0.502         0.226          -3.799         0              0              0
  32  Drawer          -0.502         0.385          -3.799         0              0              0
  33  CoffeeTable     -0.503         0.009          -3.990         0              0              0
  34  Drawer          -0.502         0.067          -3.799         0              0              0
  35  Blinds          0.163          2.196          -1.495         0              270            0
  36  TableTopDecor   -3.586         0.996          -3.055         0              180            0
  37  Drawer          -0.503         0.385          -4.188         0              180            0
  38  Drawer          -0.503         0.226          -4.188         0              180            0
  39  Desk            -0.862         0.006          -4.028         0              0              0
  40  Drawer          -3.609         0.876          -4.055         0              90             0
  41  Drawer          -3.608         0.112          -3.261         0              90             0
  42  Dresser         -3.653         0.008          -3.658         0              90             0
  43  Drawer          -3.609         0.688          -3.261         0              90             0
  44  Drawer          -3.609         0.300          -3.261         0              90             0
  45  Drawer          -3.609         0.494          -4.055         0              90             0
  46  Drawer          -3.609         0.300          -4.055         0              90             0
  47  Drawer          -3.608         0.112          -4.055         0              90             0
  48  Drawer          -3.609         0.688          -4.055         0              90             0
  49  Drawer          -3.609         0.876          -3.261         0              90             0
  50  Drawer          -3.609         0.494          -3.261         0              90             0
  51  NorthWall
  52  EastWall
  53  SouthWall
  54  WestWall

Plan:
STEP 1: Turn around, hang a right at the bed and walk to the white table on the right. | STEP 2: Pick up the black pen from the middle of the table. | STEP 3: Turn right, hang a left to the wall at the end of the table and walk to the wooden dresser on the right. | STEP 4: Put the pen on the left side of the dresser. | END