Task: move the pen from the night stand to the desk

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          0.900          -0.25          0              180            0
   1  CD              -1.165         0.837          -2.293         0              0              0              39
   2  CD              1.717          0.680          -1.220         0              270            0              34
   3  Pencil          0.128          0.146          -2.196         0              90             0              29
   4  CreditCard      -1.000         1.347          -1.976         0              0              0              42
   5  CreditCard      -1.165         0.837          -2.077         0              0              0              39
   6  KeyChain        -1.165         0.838          -2.185         0              0              0              39
   7  KeyChain        -0.934         1.347          -2.172         0              0              0              42
   8  Laptop          -0.244         0.835          -2.185         0              0              0              39
   9  Laptop          -0.935         1.775          -2.161         0              0              0              39
  10  Pillow          0.584          0.739          0.238          0              0              0              26
  11  Book            1.152          0.646          0.059          0              0              0              26
  12  Box             -0.424         2.065          -2.027         0              352.503        0              39
  13  Pillow          1.720          0.739          0.418          0              0              0              26
  14  AlarmClock      1.670          0.678          -0.858         3.707          0              0              34
  15  BasketBall      -0.337         0.120          1.031          0              0              0              Floor|-00.16|
  16  BaseballBat     -1.602         0.022          0.356          90             8.736          0              Floor|-00.16|
  17  Pen             1.671          0.686          -1.065         0              270            0              34
  18  CellPhone       -0.934         1.349          -2.074         0              0              0              42
  19  TennisRacket    -1.667         0.0            0.818          90             29.999         0              Floor|-00.16|
  20  Laptop          -1.396         0.828          -1.896         0              19.242         0              39
  21  Pencil          -0.244         1.780          -2.161         0              0              0              39
  22  KeyChain        1.626          0.674          -0.910         2.123          270            0              34
  23  CreditCard      1.592          0.374          -0.816         0              90             0              32
  24  CD              -0.549         1.347          -2.236         0              0              0              41
  25  Mirror          0.883          1.582          -2.399         0              180            0
  26  Bed             1.176          -0.002         0.238          0              90             0
  27  LightSwitch     1.899          1.297          -1.302         0              270            0
  28  Poster          -1.927         1.411          -1.455         90             90             0
  29  GarbageCan      0.128          -0.030         -2.146         0              90             0
  30  Window          -2.028         1.388          -0.270         90             270            0
  31  DeskLamp        -1.673         1.774          -2.190         0              0              0
  32  Drawer          1.624          0.453          -0.987         0              270            0
  33  Drawer          1.624          0.163          -0.987         0              270            0
  34  SideTable       1.691          0.002          -0.988         0              270            0
  35  Chair           -1.089         0.009          -1.570         0              166.824        0
  36  Blinds          -1.949         2.158          -0.252         0              90             0
  37  Cabinet         -0.241         1.534          -2.101         0              0              0
  38  Cabinet         -1.301         1.534          -2.101         0              0              0
  39  Desk            -0.962         0.003          -1.942         0              0              0
  40  Cabinet         -1.683         1.534          -2.101         0              0              0
  41  Cabinet         -0.623         1.534          -2.101         0              0              0
  42  Shelf           -0.962         1.534          -2.101         0              0              0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: walk to the desk, turn left walk to the night stand | STEP 2: grab the pen on the night stand | STEP 3: turn around, walk to the desk | STEP 4: put the pen on the desk | END