Task: Put the mug with pen on 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           1.75           0.900          0.0            0              180            0
   1  Mug             1.317          0.513          -1.591         0              90             0              39
   2  TissueBox       1.909          0.800          -1.605         0              0              0              37
   3  CellPhone       3.103          0.798          -1.420         0              0              0              37
   4  Pen             2.108          0.804          -1.543         0              0              0              37
   5  Pencil          1.909          0.803          -1.420         0              0              0              37
   6  CreditCard      1.352          0.283          -1.614         0              180            0              38
   7  CreditCard      1.070          0.283          -1.635         0              180            0              38
   8  KeyChain        2.875          0.547          -1.441         0              180            0              36
   9  Pillow          0.390          0.674          -0.236         0              0              0              24
  10  Book            2.881          0.791          -1.623         0              39.196         0              37
  11  KeyChain        1.239          0.519          -1.712         0              180            0              39
  12  TissueBox       3.067          0.536          -1.421         0              0              0              36
  13  TeddyBear       -0.075         0.562          -0.274         353.177        297.143        5.348          24
  14  Pencil          2.705          0.803          -1.482         0              0              0              37
  15  CreditCard      3.210          0.545          -1.442         0              0              0              36
  16  TennisRacket    -0.921         0.344          0.390          13.911         273.938        195.992        Floor|+00.39|
  17  Laptop          -0.097         0.568          -1.129         0              0              0              24
  18  AlarmClock      1.108          0.510          -1.673         0              345.197        0              39
  19  Pen             2.108          0.804          -1.666         0              0              0              37
  20  Pillow          0.299          0.643          -1.557         0              0              0              24
  21  CellPhone       0.715          0.570          -0.459         0              0              0              24
  22  CD              1.240          0.282          -1.593         0              180            0              38
  23  Mug             1.394          0.515          -1.752         0              90             0              39
  24  Bed             0.227          -0.003         -0.947         0              180            0
  25  Mirror          0.615          1.264          1.029          0              0              0
  26  GarbageCan      3.166          -0.011         -0.264         4.636          271.335        0
  27  DeskLamp        3.164          0.794          -1.664         0              315            0
  28  HousePlant      -0.833         0.000          0.843          0              0              0
  29  LightSwitch     2.010          1.126          1.029          0              180            0
  30  Window          1.794          1.677          -1.939         90             180            0
  31  Window          0.691          1.361          -1.938         90             180            0
  32  Dumbbell        2.628          0.001          -1.613         0              346.954        0
  33  Blinds          1.776          1.993          -1.858         0              0              0
  34  Blinds          0.670          1.993          -1.858         0              0              0
  35  Chair           2.255          0.004          -1.501         0              167.716        0
  36  Shelf           3.034          0.637          -1.580         0              0              0
  37  Desk            2.500          0.002          -1.596         0              0              0
  38  Drawer          1.240          0.354          -1.553         0              0              0
  39  SideTable       1.239          0.003          -1.551         0              0              0
  40  Drawer          1.240          0.126          -1.553         0              0              0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: Cross the room and head to the right side of the desk, then face the end of the desk | STEP 2: Pick up the right pen beside the tissue box on the desk | STEP 3: Turn to your right then look down face the side table | STEP 4: Put the pen in the mug which is closer to the desk on the table | STEP 5: Pick up the mug with pen on the table | STEP 6: Turn to your left then walk across the room, head to chair in front of the desk | STEP 7: Put the mug with pen on the middle side of the desk | END