Task: To move a pen to the top of the drawers.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.75          0.909          -1.75          0              90             0
   1  Mug             -0.685         0.541          -3.731         0              0              0              34
   2  CD              -0.426         0.029          -3.779         0              0              0              32
   3  CellPhone       -3.613         0.620          -0.356         0              0              0              25
   4  Pencil          -1.882         0.065          -3.944         0              9.990          0              29
   5  Pencil          -0.418         0.546          -3.768         0              0              0              34
   6  CreditCard      -3.470         0.614          -3.276         0              0              0              44
   7  CreditCard      -0.731         0.188          -3.844         0              0              0              35
   8  KeyChain        -3.539         0.980          -3.874         0              0              0              43
   9  KeyChain        -0.862         0.804          -4.246         0              0              0              40
  10  AlarmClock      -1.474         0.800          -3.811         0              0              0              40
  11  AlarmClock      -0.249         0.800          -3.703         0              0              0              40
  12  Book            -1.066         0.804          -3.811         0              0              0              40
  13  CellPhone       -0.657         0.803          -4.354         0              0              0              40
  14  Laptop          -3.613         0.979          -3.070         0              0              0              43
  15  CreditCard      -0.240         0.542          -3.713         0              0              0              34
  16  AlarmClock      -3.760         0.979          -3.673         0              0              0              43
  17  KeyChain        -0.657         0.800          -3.703         0              0              0              40
  18  TeddyBear       -2.567         0.575          -0.386         357.948        14.682         7.781          25
  19  BaseballBat     -1.155         0.033          -3.997         90             59.999         0              Floor|-01.88|
  20  Pencil          -3.750         0.048          -3.558         0              0              0              42
  21  Pillow          -3.191         0.722          -1.793         0              0              0              25
  22  CD              -0.453         0.799          -4.354         0              0              0              40
  23  Pen             -1.066         0.805          -4.354         0              0              0              40
  24  Mug             -0.862         0.801          -3.703         0              0              0              40
  25  Bed             -2.980         0.009          -1.177         0              0              0
  26  LightSwitch     -1.620         1.351          0.0            0              180            0
  27  DeskLamp        -1.529         0.790          -4.298         0              0              0
  28  Mirror          -0.002         1.251          -2.592         0              90             0
  29  GarbageCan      -1.843         -0.017         -3.897         0              279.992        0
  30  Window          0.209          1.180          -1.504         90             270            0
  31  Drawer          -0.503         0.067          -4.188         0              180            0
  32  Drawer          -0.502         0.226          -3.799         0              0              0
  33  Drawer          -0.502         0.385          -3.799         0              0              0
  34  CoffeeTable     -0.503         0.009          -3.990         0              0              0
  35  Drawer          -0.502         0.067          -3.799         0              0              0
  36  Blinds          0.163          2.196          -1.495         0              270            0
  37  TableTopDecor   -3.586         0.996          -3.055         0              180            0
  38  Drawer          -0.503         0.385          -4.188         0              180            0
  39  Drawer          -0.503         0.226          -4.188         0              180            0
  40  Desk            -0.862         0.006          -4.028         0              0              0
  41  Drawer          -3.609         0.876          -4.055         0              90             0
  42  Drawer          -3.608         0.112          -3.261         0              90             0
  43  Dresser         -3.653         0.008          -3.658         0              90             0
  44  Drawer          -3.609         0.688          -3.261         0              90             0
  45  Drawer          -3.609         0.300          -3.261         0              90             0
  46  Drawer          -3.609         0.494          -4.055         0              90             0
  47  Drawer          -3.609         0.300          -4.055         0              90             0
  48  Drawer          -3.608         0.112          -4.055         0              90             0
  49  Drawer          -3.609         0.688          -4.055         0              90             0
  50  Drawer          -3.609         0.876          -3.261         0              90             0
  51  Drawer          -3.609         0.494          -3.261         0              90             0
  52  NorthWall
  53  EastWall
  54  SouthWall
  55  WestWall

Plan:
STEP 1: Turn right at the window and walk to the desk.  | STEP 2: Pick up the pen to the left of the lamp.  | STEP 3: Move over to the left side of the desk and face the drawers below the desk.  | STEP 4: Put the pen down on the top of the drawers below the desk.  | END