Task: Put a pen in the desk drawer.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.900          -1.25          0              0              0
   1  Mug             1.373          1.136          1.402          0              270            0              32
   2  Pencil          -0.007         0.391          -1.640         0              0              0              39
   3  Laptop          0.829          0.776          -0.714         0              0              0              24
   4  Book            0.955          0.780          -1.262         0              0              0              24
   5  Box             -1.233         0.263          -1.435         0              312.675        0
   6  CellPhone       0.704          0.782          -0.988         0              0              0              24
   7  BaseballBat     -1.717         0.708          -0.677         0              0              12.045
   8  Bowl            1.353          0.721          0.891          0              0              0              35
   9  BasketBall      -1.64          0.127          -1.652         0              0              0
  10  Laptop          1.223          0.721          1.342          0              255.000        0              35
  11  CreditCard      -0.352         0.388          -1.617         0              0              0              39
  12  KeyChain        0.138          0.694          -1.838         0              90             0              37
  13  AlarmClock      1.084          0.729          1.727          0              0              0              35
  14  Pencil          1.288          0.732          1.066          0              0              0              35
  15  Pillow          0.704          0.849          0.107          0              0              0              24
  16  CD              1.173          0.075          1.666          0              0              0              33
  17  Pen             1.084          0.734          1.892          0              0              0              35
  18  Mug             -0.095         0.691          -1.616         0              0              0              37
  19  Poster          0.978          1.970          -1.868         90             0              0
  20  Mirror          -0.884         1.350          2.086          0              0              0
  21  Poster          1.483          1.978          -1.210         90             270            0
  22  Poster          1.483          1.503          -0.128         90             270            0
  23  Poster          1.483          2.138          -0.128         90             270            0
  24  Bed             0.955          0.002          -0.722         0              0              0
  25  GarbageCan      1.133          0.032          0.581          0              0              0
  26  DeskLamp        -0.396         0.664          -1.666         0              315            0
  27  LightSwitch     0.554          1.154          2.079          0              180            0
  28  Window          -0.174         1.006          -2.009         90             0              0
  29  LaundryHamper   -1.425         0.006          1.676          0              149.999        0
  30  Chair           1.127          -8.434         1.053          0              90             0
  31  Blinds          -0.145         1.679          -1.986         0              0              0
  32  Shelf           1.316          1.174          1.388          0              270            0
  33  Drawer          1.099          0.167          1.724          0              270            0
  34  Drawer          1.099          0.622          1.724          0              270            0
  35  Desk            1.189          0.002          1.384          0              270            0
  36  Drawer          1.099          0.408          1.724          0              270            0
  37  SideTable       -0.103         -0.000         -1.691         0              0              0
  38  Drawer          -0.104         0.157          -1.618         0              0              0
  39  Drawer          -0.104         0.456          -1.618         0              0              0
  40  NorthWall
  41  EastWall
  42  SouthWall
  43  WestWall

Plan:
STEP 1: Walk across the room and make a right at the door, then walk up to the far left side of the desk.  | STEP 2: Pick up the pen, on the desk, in front of the books.  | STEP 3: Step back from the desk so that there is an arms length distance between you and the desk.  | STEP 4: Place the pen in the top drawers of the desk. | END