Task: Place pen on bedside table, place coffee mug on desk to left of chair

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           3.0            0.900          0.25           0              0              0
   1  CellPhone       3.103          0.798          -1.482         0              0              0              34
   2  CellPhone       0.715          0.570          -0.459         0              0              0              21
   3  Pen             1.239          0.521          -1.752         0              0              0              36
   4  CreditCard      1.471          0.517          -1.752         0              0              0              36
   5  CreditCard      1.352          0.059          -1.614         0              180            0              37
   6  KeyChain        1.183          0.060          -1.635         0              180            0              37
   7  Book            2.881          0.791          -1.623         0              39.196         0              34
   8  KeyChain        1.070          0.284          -1.593         0              270            0              35
   9  TissueBox       3.067          0.536          -1.421         0              0              0              33
  10  TeddyBear       -0.075         0.562          -0.274         353.177        297.143        5.348          21
  11  Pencil          2.824          0.796          -1.432         0              315            0              34
  12  CreditCard      2.931          0.545          -1.441         0              0              0              33
  13  TennisRacket    -0.921         0.344          0.390          13.911         273.938        195.992        Floor|+00.39|
  14  Laptop          0.390          0.568          -0.459         0              0              0              21
  15  AlarmClock      1.108          0.510          -1.673         0              345.199        0              36
  16  Pen             1.909          0.804          -1.543         0              0              0              34
  17  Pillow          0.064          0.674          -0.905         0              0              0              21
  18  CellPhone       1.377          0.510          -1.659         0              339.411        0              36
  19  CD              1.296          0.282          -1.614         0              180            0              35
  20  Mug             1.471          0.515          -1.631         0              180            0              36
  21  Bed             0.227          -0.003         -0.947         0              180            0
  22  Mirror          0.615          1.264          1.029          0              0              0
  23  GarbageCan      3.166          -0.011         -0.264         4.636          271.335        0
  24  DeskLamp        3.164          0.794          -1.664         0              315            0
  25  HousePlant      -0.833         0.000          0.843          0              0              0
  26  LightSwitch     2.010          1.126          1.029          0              180            0
  27  Window          1.794          1.677          -1.939         90             180            0
  28  Window          0.691          1.361          -1.938         90             180            0
  29  Dumbbell        2.628          0.001          -1.613         0              346.954        0
  30  Blinds          1.776          1.993          -1.858         0              0              0
  31  Blinds          0.670          1.993          -1.858         0              0              0
  32  Chair           2.255          0.004          -1.501         0              167.716        0
  33  Shelf           3.034          0.637          -1.580         0              0              0
  34  Desk            2.500          0.002          -1.596         0              0              0
  35  Drawer          1.240          0.354          -1.553         0              0              0
  36  SideTable       1.239          0.003          -1.551         0              0              0
  37  Drawer          1.240          0.126          -1.553         0              0              0
  38  NorthWall
  39  EastWall
  40  SouthWall
  41  WestWall

Plan:
STEP 1: turn around, go to right end of the desk | STEP 2: pick up pen from right end of desk | STEP 3: go to bedside table to the right | STEP 4: place pen on back of bedside table between cell phone and clock | STEP 5: pick up coffee mug from left side of bedside table | STEP 6: go to the left to the left side of desk chair | STEP 7: place coffee mug on crack of desk between chair and dumbbell | END