Task: Place the pen on the dish on 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           -3.5           0.902          0.25           0              90             0
   1  Bowl            -2.396         0.097          4.809          0              0              0              50
   2  Bowl            -2.712         0.688          1.793          0              0              0              60
   3  TissueBox       -2.008         0.239          6.119          0              0              0              49
   4  TissueBox       -2.164         0.347          4.654          0              0              0              48
   5  Newspaper       -1.609         0.481          3.705          0              0              0              52
   6  Watch           -2.253         0.748          -0.246         0              0              0              54
   7  Vase            -2.393         0.752          -0.115         0              0              0              54
   8  Pencil          -4.868         0.056          0.267          0              90             0              36
   9  Pencil          -2.134         0.241          6.119          0              0              0              49
  10  KeyChain        -4.494         0.442          5.782          0              59.999         0              44
  11  CreditCard      -2.510         0.237          6.156          0              0              0              49
  12  RemoteControl   -2.164         0.098          4.887          0              0              0              50
  13  RemoteControl   -2.318         0.603          4.731          0              0              0              47
  14  Pillow          -2.933         0.557          3.615          0              0              0              52
  15  Laptop          -1.874         0.478          3.525          0              0              0              52
  16  Book            -2.490         0.691          1.299          0              0              0              59
  17  Box             -1.603         0.888          1.670          0              90             0              58
  18  Statue          -2.047         0.695          1.175          0              0              0              56
  19  Laptop          -2.404         0.478          3.525          0              0              0              52
  20  TissueBox       -2.396         0.099          5.120          0              0              0              50
  21  CreditCard      -1.986         0.648          -0.133         0              0              0              55
  22  Plate           -2.934         0.689          1.793          0              0              0              46
  23  KeyChain        -2.396         0.604          5.042          0              180            0              47
  24  Vase            -2.473         0.349          5.042          0              0              0              48
  25  Pencil          -0.284         0.708          3.116          0              0              0              42
  26  Pillow          -0.888         0.529          5.967          0              135            0              45
  27  Bowl            -2.761         0.237          6.156          0              0              0              49
  28  RemoteControl   -4.215         0.439          6.041          0              59.999         0              44
  29  Watch           -1.974         0.748          -0.072         0              0              0              54
  30  Pen             -2.259         0.243          6.010          0              0              0              49
  31  Newspaper       -2.164         0.350          5.042          0              0              0              48
  32  Painting        -2.048         1.615          -0.303         0              0              0
  33  Curtains        -0.083         2.420          0.969          0              0              0
  34  Television      -2.357         1.205          6.245          0              180            0
  35  HousePlant      -2.933         0.595          -0.093         0              0              0
  36  GarbageCan      -4.864         -0.001         0.267          0              90             0
  37  FloorLamp       -0.566         0.002          0.024          0              316.932        0
  38  DeskLamp        -0.273         0.700          3.612          0              0              0
  39  Window          -0.057         0.925          1.764          90             270            0
  40  Window          -0.057         1.130          4.886          90             270            0
  41  LightSwitch     -3.305         1.340          -0.314         0              0              0
  42  SideTable       -0.255         0.001          3.369          0              270            0
  43  Drawer          -0.306         0.626          3.369          0              270            0
  44  ArmChair        -4.376         -8.374         6.016          0              152.639        0
  45  ArmChair        -0.847         -8.106         5.983          0              231.318        0
  46  DiningTable     -2.268         -0.016         1.422          0              0              0
  47  CoffeeTable     -2.326         0.002          4.922          0              0              0
  48  Shelf           -2.326         0.338          4.922          0              0              0
  49  Shelf           -2.385         0.238          6.296          0              0              0
  50  Shelf           -2.326         0.089          4.922          0              0              0
  51  TVStand         -2.385         0.006          6.296          0              0              0
  52  Sofa            -2.404         -0.003         3.417          0              0              0
  53  SideTable       -2.935         0.004          -0.103         0              0              0
  54  SideTable       -2.113         0.002          -0.139         0              0              0
  55  Drawer          -2.113         0.654          -0.069         0              0              0
  56  Chair           -1.862         0.020          1.035          0              0              0
  57  Chair           -3.122         0.020          1.410          0              104.999        0
  58  Chair           -1.864         0.020          1.838          0              185.032        0
  59  Chair           -2.507         0.020          0.991          0              6.189          0
  60  Chair           -2.519         0.020          1.882          0              164.977        0
  61  Chair           -1.335         0.020          1.430          0              270            0
  62  NorthWall
  63  EastWall
  64  SouthWall
  65  WestWall

Plan:
STEP 1: Turn to the left, walk straight, then turn right to face the television. | STEP 2: Pick the pen up off of the TV stand. | STEP 3: Turn around, walk around the sofa and face the dining table. | STEP 4: Place the pen on the dish on the table. | STEP 5: Pick up the dish with the pen on it. | STEP 6: Turn around, walk around the couch and face the coffee table. | STEP 7: Place the dish with the pen on it on the coffee table. | END