Task: Put the pen on a plate  into the coffee table.

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          0.902          2.75           0              90             0
   1  Bowl            -2.712         0.688          1.423          0              0              0              44
   2  Plate           -2.712         0.689          1.793          0              0              0              58
   3  Plate           -0.252         0.704          3.200          0              0              0              40
   4  TissueBox       -2.164         0.099          5.120          0              0              0              48
   5  Vase            -2.473         0.604          4.731          0              0              0              45
   6  Pen             -2.490         0.694          1.423          0              0              0              44
   7  Pen             -2.636         0.243          6.046          0              0              0              47
   8  Pen             -2.368         0.654          -0.077         0              0              0              53
   9  Pencil          -2.761         0.241          6.083          0              0              0              47
  10  Pencil          -4.868         0.056          0.219          0              90             0              34
  11  KeyChain        -3.965         0.433          5.793          0              59.999         0              42
  12  RemoteControl   -2.385         0.726          6.296          0              0              0              49
  13  Laptop          -2.139         0.478          3.525          0              0              0              50
  14  Book            -1.872         0.680          1.167          0              0              0              54
  15  Box             -1.825         0.888          1.423          0              180            0              54
  16  Statue          -2.490         0.695          1.299          0              0              0              57
  17  Laptop          -2.668         0.478          3.705          0              0              0              50
  18  TissueBox       -2.510         0.239          6.192          0              0              0              47
  19  CreditCard      -1.609         0.479          3.705          0              0              0              50
  20  Plate           -2.934         0.689          1.423          0              0              0              55
  21  KeyChain        -0.333         0.616          3.521          0              90             0              41
  22  Vase            -2.253         0.752          -0.115         0              0              0              52
  23  Pencil          -2.008         0.241          6.010          0              0              0              47
  24  Pillow          -3.271         0.661          3.44           0              0              331.220        50
  25  Bowl            -2.164         0.345          5.042          0              0              0              46
  26  RemoteControl   -2.396         0.348          4.731          0              0              0              46
  27  Watch           -0.294         0.615          3.139          0              0              0              41
  28  Pen             -2.318         0.351          4.887          0              0              0              46
  29  Newspaper       -2.164         0.602          4.887          0              0              0              45
  30  Painting        -2.048         1.615          -0.303         0              0              0
  31  Curtains        -0.083         2.420          0.969          0              0              0
  32  Television      -2.357         1.205          6.245          0              180            0
  33  HousePlant      -2.933         0.595          -0.093         0              0              0
  34  GarbageCan      -4.864         -0.001         0.267          0              90             0
  35  FloorLamp       -0.566         0.002          0.024          0              316.932        0
  36  DeskLamp        -0.273         0.700          3.612          0              0              0
  37  Window          -0.057         0.925          1.764          90             270            0
  38  Window          -0.057         1.130          4.886          90             270            0
  39  LightSwitch     -3.305         1.340          -0.314         0              0              0
  40  SideTable       -0.255         0.001          3.369          0              270            0
  41  Drawer          -0.306         0.626          3.369          0              270            0
  42  ArmChair        -4.376         -8.374         6.016          0              152.639        0
  43  ArmChair        -0.847         -8.106         5.983          0              231.318        0
  44  DiningTable     -2.268         -0.016         1.422          0              0              0
  45  CoffeeTable     -2.326         0.002          4.922          0              0              0
  46  Shelf           -2.326         0.338          4.922          0              0              0
  47  Shelf           -2.385         0.238          6.296          0              0              0
  48  Shelf           -2.326         0.089          4.922          0              0              0
  49  TVStand         -2.385         0.006          6.296          0              0              0
  50  Sofa            -2.404         -0.003         3.417          0              0              0
  51  SideTable       -2.935         0.004          -0.103         0              0              0
  52  SideTable       -2.113         0.002          -0.139         0              0              0
  53  Drawer          -2.113         0.654          -0.069         0              0              0
  54  Chair           -1.862         0.020          1.035          0              0              0
  55  Chair           -3.122         0.020          1.410          0              104.999        0
  56  Chair           -1.864         0.020          1.838          0              185.032        0
  57  Chair           -2.507         0.020          0.991          0              6.189          0
  58  Chair           -2.519         0.020          1.882          0              164.977        0
  59  Chair           -1.335         0.020          1.430          0              270            0
  60  NorthWall
  61  EastWall
  62  SouthWall
  63  WestWall

Plan:
STEP 1: Turn left, walk towards the tv stand, stand in front of the tv. | STEP 2: Pick up the pen in front of the tissue box in the tv stand. | STEP 3: Turn around, walk past the sofa towards the dining table. | STEP 4: Place the pen on the plate that is not next to the bowl. | STEP 5: Pick up the plate with the pen on it. | STEP 6: Turn around, walk past the sofa, turn right towards the coffee table. | STEP 7: Place the plate in the middle shelf of the coffee table. | END