Task: Set the red pen that's inside the mug onto 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           2.75           0.902          -0.5           0              0              0
   1  CellPhone       -0.331         0.695          0.067          0              0              0              28
   2  CellPhone       -0.331         0.695          -0.36          0              0              0              28
   3  Pen             1.680          0.661          -2.298         0              0              0              43
   4  Pen             1.680          0.660          -2.124         0              0              0              43
   5  Pencil          1.658          0.804          -2.219         0              0              0              48
   6  Pencil          1.586          0.504          -2.211         0              0              0              50
   7  CreditCard      1.842          0.799          -1.279         0              0              0              48
   8  KeyChain        1.726          0.657          -1.464         0              0              0              41
   9  KeyChain        0.427          0.674          -2.608         0              180            0              53
  10  Book            -1.061         0.694          -1.001         0              180            0              28
  11  Book            -0.574         0.694          0.067          0              0              0              28
  12  AlarmClock      1.535          0.794          -1.466         0              0              0              48
  13  Book            -0.574         0.694          -0.36          0              0              0              28
  14  KeyChain        1.536          0.801          -2.407         0              90             0              48
  15  AlarmClock      0.069          0.665          -2.578         0              0              0              53
  16  CreditCard      1.493          0.655          -2.386         0              0              0              43
  17  Laptop          1.663          0.794          -1.842         0              287.390        0              48
  18  Pen             1.658          0.807          -2.407         0              0              0              48
  19  Pencil          1.680          0.505          -1.551         0              0              0              42
  20  BaseballBat     -1.844         0.678          -2.203         0              0              8.760          Floor|+00.01|
  21  Pillow          -1.061         0.755          -0.36          0              0              0              28
  22  Pillow          -0.088         0.755          0.281          0              0              0              28
  23  TennisRacket    -1.597         0.001          -1.367         90             37.792         0              Floor|+00.01|
  24  CellPhone       1.474          0.800          -1.279         0              0              0              48
  25  CD              3.378          0.016          0.194          0              0              0              33
  26  Mug             0.341          0.671          -2.608         0              0              0              53
  27  Mirror          3.534          1.661          -0.277         0              90             0
  28  Bed             -0.842         -0.000         -0.361         0              270            0
  29  DeskLamp        1.742          0.819          -1.394         0              358.556        0
  30  Painting        0.246          1.564          -2.665         90             0              0
  31  Painting        1.894          1.549          -2.424         90             270            0
  32  Painting        1.894          1.549          -1.289         90             270            0
  33  GarbageCan      3.378          0.000          0.220          0              0              0
  34  LightSwitch     -0.078         1.219          1.298          0              180            0
  35  Window          -0.486         1.409          -2.691         90             0              0
  36  Window          0.987          1.409          -2.691         90             0              0
  37  VacuumCleaner   -1.649         0.010          -2.440         0              42.426         0
  38  Blinds          -0.490         2.130          -2.638         0              0              0
  39  Blinds          1.011          2.130          -2.638         0              0              0
  40  Drawer          1.596          0.411          -1.459         0              270            0
  41  Drawer          1.597          0.732          -1.459         0              270            0
  42  Drawer          1.597          0.574          -1.459         0              270            0
  43  Drawer          1.597          0.732          -2.202         0              270            0
  44  Drawer          1.596          0.247          -1.459         0              270            0
  45  Drawer          1.596          0.090          -1.459         0              270            0
  46  Drawer          1.596          0.247          -2.202         0              270            0
  47  Drawer          1.596          0.411          -2.202         0              270            0
  48  Dresser         1.634          0.003          -1.830         0              270            0
  49  Drawer          1.596          0.090          -2.202         0              270            0
  50  Drawer          1.597          0.574          -2.202         0              270            0
  51  ShelvingUnit    0.249          0.003          -2.519         0              0              0
  52  Shelf           0.017          0.178          -2.511         0              0              0
  53  Shelf           0.249          0.665          -2.519         0              0              0
  54  Shelf           0.243          0.344          -2.511         0              0              0
  55  Shelf           0.474          0.344          -2.511         0              0              0
  56  Shelf           0.355          0.011          -2.511         0              0              0
  57  Shelf           0.016          0.011          -2.511         0              0              0
  58  Shelf           0.357          0.178          -2.511         0              0              0
  59  NorthWall
  60  EastWall
  61  SouthWall
  62  WestWall

Plan:
STEP 1: Turn left, walks towards the bed and turn left again facing the desk. | STEP 2: Pick up the red pen off of the desk.  | STEP 3: Turn around and walk towards the table to the left.  | STEP 4: Place the red pen in the black mug.  | STEP 5: Pick up the mug with the red pen.  | STEP 6: Turn to the left to face the desk.  | STEP 7: Set the black mug on the left side of the desk. | END