Task: place pen behind CD in left 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           -1.25          0.900          0.0            0              180            0
   1  Mug             1.220          0.727          1.066          0              180            0              42
   2  CD              1.278          1.138          1.402          0              270            0              39
   3  CD              1.373          1.138          1.089          0              270            0              39
   4  CellPhone       -0.095         0.693          -1.749         0              0              0              44
   5  Pen             1.341          1.144          1.558          0              270            0              39
   6  Pen             1.342          1.144          1.402          0              270            0              39
   7  Pen             0.255          0.698          -1.838         0              0              0              44
   8  Pencil          -0.095         0.696          -1.660         0              0              0              44
   9  Pencil          -0.007         0.391          -1.640         0              0              0              46
  10  AlarmClock      1.084          0.729          0.901          0              0              0              42
  11  Book            1.145          0.721          1.806          0              0              0              41
  12  Box             -1.233         0.263          -1.435         0              312.675        0
  13  CellPhone       0.829          0.782          -1.537         0              0              0              31
  14  BaseballBat     -1.717         0.708          -0.677         0              0              12.045
  15  Bowl            0.255          0.693          -1.705         0              0              0              44
  16  BasketBall      -1.64          0.127          -1.652         0              0              0
  17  Laptop          0.829          0.776          -0.166         0              0              0              31
  18  CreditCard      0.164          0.388          -1.687         0              0              0              46
  19  KeyChain        -0.213         0.694          -1.794         0              0              0              44
  20  AlarmClock      1.288          0.729          1.396          0              0              0              42
  21  Pencil          1.288          0.732          1.231          0              0              0              42
  22  Pillow          0.955          0.849          -0.988         0              0              0              31
  23  CD              1.310          1.138          0.933          0              270            0              39
  24  Pen             0.255          0.695          -1.572         0              0              0              44
  25  Mug             1.152          0.727          1.562          0              270            0              42
  26  Poster          0.978          1.970          -1.868         90             0              0
  27  Mirror          -0.884         1.350          2.086          0              0              0
  28  Poster          1.483          1.978          -1.210         90             270            0
  29  Poster          1.483          1.503          -0.128         90             270            0
  30  Poster          1.483          2.138          -0.128         90             270            0
  31  Bed             0.955          0.002          -0.722         0              0              0
  32  GarbageCan      1.133          0.032          0.581          0              0              0
  33  DeskLamp        -0.396         0.664          -1.666         0              315            0
  34  LightSwitch     0.554          1.154          2.079          0              180            0
  35  Window          -0.174         1.006          -2.009         90             0              0
  36  LaundryHamper   -1.425         0.006          1.676          0              149.999        0
  37  Chair           1.127          -8.434         1.053          0              90             0
  38  Blinds          -0.145         1.679          -1.986         0              0              0
  39  Shelf           1.316          1.174          1.388          0              270            0
  40  Drawer          1.099          0.167          1.724          0              270            0
  41  Drawer          1.099          0.622          1.724          0              270            0
  42  Desk            1.189          0.002          1.384          0              270            0
  43  Drawer          1.099          0.408          1.724          0              270            0
  44  SideTable       -0.103         -0.000         -1.691         0              0              0
  45  Drawer          -0.104         0.157          -1.618         0              0              0
  46  Drawer          -0.104         0.456          -1.618         0              0              0
  47  NorthWall
  48  EastWall
  49  SouthWall
  50  WestWall

Plan:
STEP 1: turn left, go to the desk to the left | STEP 2: pick up pen on the right from behind CD on the desk | STEP 3: move to the left side of desk | STEP 4: open left drawer of desk, place pen on left side of desk drawer, close drawer | END