Task: Put a black mug, with a red pen in it, on the nightstand.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.0            0.901          1.5            0              90             0
   1  Pen             2.732          0.990          1.007          0              180            0              31
   2  CreditCard      -1.514         0.662          1.634          0              0              0              43
   3  CreditCard      2.907          0.988          1.292          0              180            0              31
   4  Pencil          2.644          0.992          1.860          0              180            0              31
   5  Laptop          -0.448         0.691          0.559          0              0              0              23
   6  Laptop          0.086          0.691          0.782          0              0              0              23
   7  Book            -0.984         0.693          0.782          0              0              0              23
   8  KeyChain        2.596          0.888          1.834          0              0              0              32
   9  Laptop          2.485          0.447          -0.655         0              119.999        0              44
  10  Cloth           1.763          0.000          -1.732         0              70.590         0
  11  CreditCard      2.555          0.885          0.284          0              180            0              38
  12  Pen             2.995          0.990          1.576          0              180            0              31
  13  Pencil          2.644          0.989          0.155          0              180            0              31
  14  BaseballBat     3.076          0.629          -1.762         0              0              338.300
  15  AlarmClock      2.907          0.984          0.439          0              180            0              31
  16  BaseballBat     0.808          0.05           2.151          0              0              270
  17  Pillow          -1.373         0.754          -0.204         0              255.000        0              23
  18  Pillow          -0.984         0.779          0.336          0              0              0              23
  19  CellPhone       -1.469         0.663          -1.25          0              0              0              41
  20  CD              -1.692         0.662          1.711          0              0              0              43
  21  Mug             2.995          0.983          1.008          0              90             0              31
  22  Curtains        -0.020         2.923          -1.853         0              0              0
  23  Bed             -0.750         -0.018         0.113          1.247          270            0
  24  LightSwitch     1.317          1.297          2.197          0              180            0
  25  DeskLamp        -1.618         0.669          1.486          0              0              0
  26  DeskLamp        -1.631         0.669          -1.308         0              0              0
  27  Painting        1.524          1.516          -1.853         90             0              0
  28  GarbageCan      1.352          0.000          -1.685         0              0              0
  29  Mirror          0.575          1.351          2.197          0              0              0
  30  Window          -0.013         1.687          -1.919         90             0              0
  31  Dresser         2.819          0.000          1.008          0              270            0
  32  Drawer          2.572          0.901          1.784          0              270            0
  33  Cabinet         2.484          0.499          1.014          0              270            0
  34  Cabinet         2.484          0.499          0.999          0              270            0
  35  Drawer          2.572          0.901          1.263          0              270            0
  36  Drawer          2.572          0.901          0.748          0              270            0
  37  Cabinet         2.484          0.499          -0.019         0              270            0
  38  Drawer          2.572          0.901          0.230          0              270            0
  39  Cabinet         2.484          0.499          2.033          0              270            0
  40  Drawer          -1.533         0.459          1.478          0              90             0
  41  SideTable       -1.599         0.001          -1.249         0              90             0
  42  Drawer          -1.533         0.459          -1.250         0              90             0
  43  SideTable       -1.599         0.001          1.479          0              90             0
  44  ArmChair        2.574          0.002          -0.817         0              299.998        0
  45  Shelf           -1.552         0.040          -1.400         0              90             0
  46  Shelf           -1.552         0.040          -1.133         0              90             0
  47  Shelf           -1.552         0.040          1.328          0              90             0
  48  Shelf           -1.552         0.040          1.595          0              90             0
  49  NorthWall
  50  EastWall
  51  SouthWall
  52  WestWall

Plan:
STEP 1: Turn right for one step; turn left for one step to face the dresser. | STEP 2: Pick up the red pen from the dresser on the right. | STEP 3: Stand up holding the pen. | STEP 4: Put the pen in the black mug at the back of the dresser to the right. | STEP 5: Pick up the mug with the pen still inside. | STEP 6: Turn around and then right and walk to the door, turn left and take nine steps, turn right for one step and then left and stop. | STEP 7: Place the cup on the bottom right of the nightstand, to the right of the credit card. | END