Task: Pick up the pen on the dresser.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.902          -1.25          0              180            0
   1  Statue          0.418          0.838          -2.414         0              0              0              42
   2  CD              2.554          0.520          -0.041         0              0              0              59
   3  CD              2.647          0.353          0.356          0              0              0              51
   4  CellPhone       2.461          0.191          -0.303         0              90             0              55
   5  CellPhone       0.176          0.730          0.172          0              0              0              28
   6  Pen             2.456          0.827          0.812          0              270            0              58
   7  Pen             2.703          0.827          0.244          0              270            0              58
   8  KeyChain        -0.818         0.047          -1.724         0              0              0              45
   9  KeyChain        2.601          0.520          0.133          0              0              0              59
  10  Book            -0.402         0.730          1.232          0              0              0              28
  11  Laptop          0.176          0.729          0.702          0              0              0              28
  12  AlarmClock      2.456          0.821          0.054          0              270            0              58
  13  AlarmClock      2.517          0.821          0.623          0              270            0              58
  14  Box             0.252          0.227          -2.042         0              29.078         0
  15  Book            2.641          0.821          0.054          0              270            0              58
  16  Statue          1.377          1.454          -1.758         0              0              0              42
  17  CellPhone       -0.402         0.730          0.702          0              0              0              28
  18  Pillow          -0.016         0.809          1.232          0              0              0              28
  19  Pillow          -0.016         0.809          1.762          0              0              0              28
  20  BasketBall      -1.231         0.121          -0.18          0              0              0
  21  CreditCard      2.394          0.819          -0.324         0              270            0              58
  22  KeyChain        2.517          0.822          0.244          0              0              0              58
  23  Pencil          2.414          0.195          0.046          0              0              0              55
  24  AlarmClock      0.688          0.832          -2.383         0              0              0              47
  25  Laptop          -0.535         0.781          0.402          0              59.999         0              28
  26  CD              2.703          0.821          0.433          0              270            0              58
  27  Pen             2.507          0.525          0.046          0              0              0              59
  28  Bed             -0.209         -0.001         0.983          0              0              0
  29  LightSwitch     0.778          1.266          2.128          0              180            0
  30  GarbageCan      -1.357         -0.020         -0.928         0              0              0
  31  Painting        2.063          1.674          -1.865         83.723         0              0
  32  HousePlant      -0.808         0.953          -1.730         0              0              0
  33  Painting        1.871          0.393          -1.792         79.235         0              0
  34  Mirror          2.842          1.404          1.375          0              90             0
  35  DeskLamp        2.676          0.819          0.878          0              0              0
  36  Window          -1.700         1.444          -0.542         90             90             0
  37  Window          0.535          1.412          -2.618         90             0              0
  38  Shelf           -0.904         0.824          -1.754         0              0              0
  39  Shelf           -0.802         0.981          -1.756         0              0              0
  40  Shelf           -0.904         0.555          -1.754         0              0              0
  41  Shelf           -0.327         0.225          -1.754         0              0              0
  42  Shelf           -0.439         0.822          -1.754         0              0              0
  43  Shelf           -0.619         0.981          -1.754         0              0              0
  44  Shelf           -0.439         0.556          -1.754         0              0              0
  45  Shelf           -0.709         0.225          -1.754         0              0              0
  46  ShelvingUnit    -0.641         0.006          -1.745         0              0              0
  47  Stool           0.799          0.004          -2.105         0              0              0
  48  Blinds          0.542          2.135          -2.553         0              0              0
  49  Blinds          -1.645         2.145          -0.546         0              90             0
  50  Drawer          2.518          0.574          0.623          0              270            0
  51  Drawer          2.517          0.411          0.623          0              270            0
  52  Drawer          2.518          0.732          0.623          0              270            0
  53  Drawer          2.518          0.732          -0.119         0              270            0
  54  Drawer          2.517          0.411          -0.119         0              270            0
  55  Drawer          2.517          0.247          -0.119         0              270            0
  56  Drawer          2.517          0.090          0.623          0              270            0
  57  Drawer          2.517          0.247          0.623          0              270            0
  58  Dresser         2.555          0.003          0.252          0              270            0
  59  Drawer          2.518          0.574          -0.119         0              270            0
  60  Drawer          2.517          0.090          -0.119         0              270            0
  61  NorthWall
  62  EastWall
  63  SouthWall
  64  WestWall

Plan:
STEP 1: Turn to your left and walk to the pictures on the wall to your right, turn left and go towards the door, turn to your right just passed the dresser and go to the left end of the dresser.  | STEP 2: Turn on the lamp in the corner of the dresser.  | STEP 3: Pick up the pen in front of the lamp, on the dresser.  | END