Task: move the pen on the desk to the bottom drawer

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.900          1.25           0              90             0
   1  Mug             0.255          0.691          -1.705         0              180            0              46
   2  Mug             1.310          1.136          0.933          0              270            0              41
   3  CD              1.060          0.552          1.666          0              0              0              43
   4  CD              1.060          0.315          1.523          0              0              0              45
   5  CellPhone       1.356          0.732          1.066          0              0              0              44
   6  Pen             0.255          0.698          -1.572         0              0              0              46
   7  Pen             1.373          1.144          1.246          0              270            0              41
   8  KeyChain        1.220          0.729          1.231          0              90             0              44
   9  Pillow          0.829          0.849          -0.440         0              0              0              33
  10  AlarmClock      1.220          0.729          1.396          0              0              0              44
  11  Laptop          1.205          0.776          -0.988         0              0              0              33
  12  Laptop          1.205          0.776          -0.440         0              0              0              33
  13  Book            1.145          0.721          1.806          0              0              0              43
  14  Box             -1.233         0.263          -1.435         0              312.675        0
  15  CellPhone       1.080          0.782          -0.166         0              0              0              33
  16  BaseballBat     -1.717         0.708          -0.677         0              0              12.045
  17  Bowl            1.353          0.721          0.891          0              0              0              44
  18  BasketBall      -1.64          0.127          -1.652         0              0              0
  19  Laptop          0.704          0.776          -0.988         0              0              0              33
  20  CreditCard      1.423          0.728          1.066          0              0              0              44
  21  KeyChain        1.152          0.729          1.231          0              0              0              44
  22  AlarmClock      1.341          1.139          1.558          0              270            0              41
  23  Pencil          1.356          0.732          1.396          0              0              0              44
  24  Pillow          0.704          0.849          0.107          0              0              0              33
  25  CD              1.084          0.728          1.066          0              0              0              44
  26  Pen             1.356          0.734          1.231          0              0              0              44
  27  Mug             1.016          0.727          1.562          0              270            0              44
  28  Poster          0.978          1.970          -1.868         90             0              0
  29  Mirror          -0.884         1.350          2.086          0              0              0
  30  Poster          1.483          1.978          -1.210         90             270            0
  31  Poster          1.483          1.503          -0.128         90             270            0
  32  Poster          1.483          2.138          -0.128         90             270            0
  33  Bed             0.955          0.002          -0.722         0              0              0
  34  GarbageCan      1.133          0.032          0.581          0              0              0
  35  DeskLamp        -0.396         0.664          -1.666         0              315            0
  36  LightSwitch     0.554          1.154          2.079          0              180            0
  37  Window          -0.174         1.006          -2.009         90             0              0
  38  LaundryHamper   -1.425         0.006          1.676          0              149.999        0
  39  Chair           1.127          -8.434         1.053          0              90             0
  40  Blinds          -0.145         1.679          -1.986         0              0              0
  41  Shelf           1.316          1.174          1.388          0              270            0
  42  Drawer          1.099          0.167          1.724          0              270            0
  43  Drawer          1.099          0.622          1.724          0              270            0
  44  Desk            1.189          0.002          1.384          0              270            0
  45  Drawer          1.099          0.408          1.724          0              270            0
  46  SideTable       -0.103         -0.000         -1.691         0              0              0
  47  Drawer          -0.104         0.157          -1.618         0              0              0
  48  Drawer          -0.104         0.456          -1.618         0              0              0
  49  NorthWall
  50  EastWall
  51  SouthWall
  52  WestWall

Plan:
STEP 1: walk to the desk at front | STEP 2: grab the pen on the desk | STEP 3: turn around, turn around | STEP 4: open the bottom drawer, put the pen in the drawer, close the drawer | END