Task: Put the pen from the desk going 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           -1.0           0.937          1.75           0              90             0
   1  Pen             -2.164         1.121          -2.817         0              0              0              31
   2  Pen             -1.227         1.121          -2.902         0              0              0              31
   3  Book            1.068          0.077          -2.825         0              0              0              28
   4  Book            1.068          0.077          -3.161         0              0              0              28
   5  KeyChain        1.615          0.095          -2.945         0              90             0              49
   6  KeyChain        -1.851         1.117          -2.732         0              0              0              31
   7  RemoteControl   1.678          0.563          2.389          353.303        91.015         353.652        51
   8  RemoteControl   -1.539         1.118          -2.988         0              0              0              31
   9  Pillow          1.528          0.940          1.215          0              0              0              24
  10  Book            0.821          0.077          -2.993         0              0              0              28
  11  AlarmClock      -2.164         1.118          -2.988         0              0              0              31
  12  CellPhone       -0.893         0.086          -2.882         0              0              0              29
  13  Pillow          0.958          0.940          0.735          0              0              0              24
  14  Pillow          0.104          0.940          0.495          0              0              0              24
  15  TeddyBear       1.868          0.036          -0.561         0              59.999         0              Floor|-00.06|
  16  CreditCard      -3.261         0.190          3.510          0              149.999        0              50
  17  KeyChain        -0.187         0.083          -3.038         0              90             0              30
  18  Pencil          -0.602         1.119          -3.073         0              0              0              31
  19  Laptop          -1.901         1.104          -2.965         0              0              0              31
  20  RemoteControl   -0.914         1.118          -3.158         0              0              0              31
  21  CD              0.573          0.077          -3.077         0              0              0              28
  22  Pen             -0.602         1.121          -2.732         0              0              0              31
  23  Mug             1.805          0.551          2.253          0              270            0              51
  24  Bed             0.967          0.049          0.667          0              90             0
  25  Cabinet         -3.0           1.497          -2.643         0              0              0
  26  Drawer          -0.365         0.785          -2.848         0              0              0
  27  Drawer          -1.159         0.785          -2.848         0              0              0
  28  Cabinet         2.064          1.497          -2.643         0              0              0
  29  Drawer          -1.159         0.285          -2.848         0              0              0
  30  Drawer          -0.365         0.285          -2.848         0              0              0
  31  Desk            -1.271         1.169          -2.987         0              0              0
  32  LightSwitch     -0.159         1.281          3.999          0              180            0
  33  GarbageCan      -3.338         0.022          -2.797         0              4.809          0
  34  HousePlant      -0.195         1.105          -3.084         0              0              0
  35  DeskLamp        1.863          0.581          2.431          0              0              0
  36  Mirror          -1.603         1.447          3.999          0              0              0
  37  Television      -3.883         1.771          2.122          0              90             0
  38  Window          -1.952         2.148          -3.302         90             180            0
  39  Window          -0.467         2.148          -3.302         90             180            0
  40  Window          -3.894         1.751          0.582          90             270            0
  41  Window          -3.894         1.751          -0.675         90             270            0
  42  LaundryHamper   1.831          0.058          3.689          0              354.434        1.354
  43  ArmChair        -0.948         0.051          3.583          0              175.988        0
  44  ArmChair        -2.172         0.051          3.598          0              180            0
  45  Blinds          -0.477         2.785          -3.253         0              0              0
  46  Blinds          -1.957         2.785          -3.253         0              0              0
  47  Blinds          -3.799         2.506          0.602          0              90             0
  48  Blinds          -3.799         2.506          -0.647         0              90             0
  49  Safe            1.673          0.054          -3.004         0              0              0
  50  ArmChair        -3.349         0.051          3.375          0              150.096        0
  51  SideTable       1.775          0.048          2.377          0              0              0
  52  Chair           -2.002         0.050          -2.532         0              165.000        0
  53  NorthWall
  54  EastWall
  55  SouthWall
  56  WestWall

Plan:
STEP 1: Turn to your right and head to the white desk  | STEP 2: Pick up the pen on the desk between the two remote | STEP 3: Turn around to your right and cross the room  | STEP 4: Put the pen on the side table beside the lamp and remote | END