Task: Put the pen from the cabinet drawer to the side table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.901          1.75           0              0              0
   1  Mug             -1.603         0.661          1.711          0              0              0              47
   2  CD              2.711          0.179          0.045          0              180            0              41
   3  CD              -1.515         0.356          -1.363         0              0              0              46
   4  CreditCard      -1.469         0.662          1.711          0              0              0              47
   5  CreditCard      2.596          0.885          0.899          0              180            0              40
   6  Book            -0.984         0.693          0.336          0              0              0              27
   7  Book            2.644          0.984          1.860          0              180            0              35
   8  Pencil          2.732          0.989          0.155          0              180            0              35
   9  Pencil          -1.603         0.667          1.479          0              0              0              47
  10  Laptop          -0.448         0.691          0.782          0              0              0              27
  11  Book            2.485          0.448          -0.655         0              119.999        0              48
  12  KeyChain        2.555          0.887          1.682          0              180            0              36
  13  Laptop          -0.984         0.691          0.782          0              0              0              27
  14  Cloth           1.763          0.000          -1.732         0              70.590         0
  15  CreditCard      -1.648         0.662          1.556          0              0              0              47
  16  Pen             2.732          0.990          0.723          0              180            0              35
  17  Pencil          2.995          0.989          1.860          0              180            0              35
  18  BaseballBat     3.076          0.629          -1.762         0              0              338.300
  19  AlarmClock      2.995          0.987          1.008          0              180            0              35
  20  BaseballBat     0.808          0.05           2.151          0              0              270
  21  Pillow          -1.373         0.754          -0.204         0              255.000        0              27
  22  Pillow          -1.457         0.754          0.494          0              285.000        0              27
  23  CellPhone       2.575          0.887          0.335          0              180            0              42
  24  CD              2.555          0.886          0.696          0              180            0              40
  25  Mug             2.644          0.986          1.007          0              180            0              35
  26  Curtains        -0.020         2.923          -1.853         0              0              0
  27  Bed             -0.750         -0.018         0.113          1.247          270            0
  28  LightSwitch     1.317          1.297          2.197          0              180            0
  29  DeskLamp        -1.618         0.669          1.486          0              0              0
  30  DeskLamp        -1.631         0.669          -1.308         0              0              0
  31  Painting        1.524          1.516          -1.853         90             0              0
  32  GarbageCan      1.352          0.000          -1.685         0              0              0
  33  Mirror          0.575          1.351          2.197          0              0              0
  34  Window          -0.013         1.687          -1.919         90             0              0
  35  Dresser         2.819          0.000          1.008          0              270            0
  36  Drawer          2.572          0.901          1.784          0              270            0
  37  Cabinet         2.484          0.499          1.014          0              270            0
  38  Cabinet         2.484          0.499          0.999          0              270            0
  39  Drawer          2.572          0.901          1.263          0              270            0
  40  Drawer          2.572          0.901          0.748          0              270            0
  41  Cabinet         2.484          0.499          -0.019         0              270            0
  42  Drawer          2.572          0.901          0.230          0              270            0
  43  Cabinet         2.484          0.499          2.033          0              270            0
  44  Drawer          -1.533         0.459          1.478          0              90             0
  45  SideTable       -1.599         0.001          -1.249         0              90             0
  46  Drawer          -1.533         0.459          -1.250         0              90             0
  47  SideTable       -1.599         0.001          1.479          0              90             0
  48  ArmChair        2.574          0.002          -0.817         0              299.998        0
  49  Shelf           -1.552         0.040          -1.400         0              90             0
  50  Shelf           -1.552         0.040          -1.133         0              90             0
  51  Shelf           -1.552         0.040          1.328          0              90             0
  52  Shelf           -1.552         0.040          1.595          0              90             0
  53  NorthWall
  54  EastWall
  55  SouthWall
  56  WestWall

Plan:
STEP 1: Turn right and head to the cabinet drawer | STEP 2: Pick up the pen on top of the cabinet | STEP 3: Turn right then head to the side table beside the bed | STEP 4: Put the pen under the lamp | END