Task: Place a pen on top of a small table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.937          -1.25          0              90             0
   1  Pen             -0.602         1.121          -2.988         0              0              0              29
   2  CreditCard      1.657          0.552          2.181          0              0              0              49
   3  CreditCard      -0.187         0.083          -2.882         0              0              0              28
   4  RemoteControl   1.678          0.562          2.389          353.282        91.038         356.299        49
   5  RemoteControl   -0.763         0.193          3.411          0              175.771        0              41
   6  Laptop          0.104          0.830          1.215          0              0              0              22
   7  Laptop          0.958          0.830          1.456          0              0              0              22
   8  Book            -2.745         0.082          -3.135         0              0              0              23
   9  AlarmClock      -2.164         1.118          -2.902         0              0              0              29
  10  CellPhone       -0.893         0.586          -2.986         0              0              0              25
  11  Pillow          0.673          0.940          0.975          0              0              0              22
  12  Pillow          1.528          0.940          0.495          0              0              0              22
  13  TeddyBear       1.868          0.036          -0.561         0              59.999         0              Floor|-00.06|
  14  CreditCard      1.706          0.552          2.540          0              0              0              49
  15  KeyChain        1.828          0.095          -2.997         0              90             0              47
  16  Pencil          -0.365         0.087          -2.882         0              0              0              28
  17  Laptop          0.389          0.830          0.255          0              0              0              22
  18  RemoteControl   -3.540         0.309          3.349          0              149.999        0              48
  19  CD              1.668          0.093          -2.945         0              90             0              47
  20  Pen             -1.851         1.121          -2.988         0              0              0              29
  21  Mug             1.315          0.075          -3.161         0              0              0              26
  22  Bed             0.967          0.049          0.667          0              90             0
  23  Cabinet         -3.0           1.497          -2.643         0              0              0
  24  Drawer          -0.365         0.785          -2.848         0              0              0
  25  Drawer          -1.159         0.785          -2.848         0              0              0
  26  Cabinet         2.064          1.497          -2.643         0              0              0
  27  Drawer          -1.159         0.285          -2.848         0              0              0
  28  Drawer          -0.365         0.285          -2.848         0              0              0
  29  Desk            -1.271         1.169          -2.987         0              0              0
  30  LightSwitch     -0.159         1.281          3.999          0              180            0
  31  GarbageCan      -3.338         0.022          -2.797         0              4.809          0
  32  HousePlant      -0.195         1.105          -3.084         0              0              0
  33  DeskLamp        1.863          0.581          2.431          0              0              0
  34  Mirror          -1.603         1.447          3.999          0              0              0
  35  Television      -3.883         1.771          2.122          0              90             0
  36  Window          -1.952         2.148          -3.302         90             180            0
  37  Window          -0.467         2.148          -3.302         90             180            0
  38  Window          -3.894         1.751          0.582          90             270            0
  39  Window          -3.894         1.751          -0.675         90             270            0
  40  LaundryHamper   1.831          0.058          3.689          0              354.434        1.354
  41  ArmChair        -0.948         0.051          3.583          0              175.988        0
  42  ArmChair        -2.172         0.051          3.598          0              180            0
  43  Blinds          -0.477         2.785          -3.253         0              0              0
  44  Blinds          -1.957         2.785          -3.253         0              0              0
  45  Blinds          -3.799         2.506          0.602          0              90             0
  46  Blinds          -3.799         2.506          -0.647         0              90             0
  47  Safe            1.673          0.054          -3.004         0              0              0
  48  ArmChair        -3.349         0.051          3.375          0              150.096        0
  49  SideTable       1.775          0.048          2.377          0              0              0
  50  Chair           -2.002         0.050          -2.532         0              165.000        0
  51  NorthWall
  52  EastWall
  53  SouthWall
  54  WestWall

Plan:
STEP 1: Walk straight, turn right to face the drawer, walk straight to the drawer. | STEP 2: Pick up the pen on top of the drawer. | STEP 3: Turn around to face the bed, walk straight to the sofa seat, turn right when you reach the sofa seat and walk straight to the small table. | STEP 4: Place the pen on top of the small table. | END