Task: Put a mug with a pen in it on a table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.25           0.900          1.5            0              180            0
   1  Bowl            -2.484         0.683          -3.304         0              90             0              40
   2  CellPhone       2.649          1.249          1.796          0              0              0              34
   3  Pen             2.685          1.234          1.626          0              90             0              45
   4  Pen             1.344          0.025          -3.375         0              0              0              29
   5  Pencil          2.643          0.373          1.679          0              270            0              44
   6  Pencil          -2.484         0.678          -0.436         0              90             0              47
   7  KeyChain        2.732          1.228          1.511          0              270            0              45
   8  KeyChain        2.779          1.228          1.283          0              270            0              45
   9  Laptop          -2.440         0.617          -2.461         0              0              0              25
  10  Pillow          -1.308         0.680          -2.261         0              0              0              25
  11  Book            -1.874         0.618          -1.861         0              0              0              25
  12  CreditCard      -2.349         0.680          -3.304         0              90             0              40
  13  Pen             2.544          1.234          1.511          0              270            0              45
  14  Pencil          2.211          0.901          -3.113         0              0              0              38
  15  TeddyBear       -0.667         0.612          -1.364         0              81.467         0              25
  16  Laptop          -2.440         0.617          -1.861         0              0              0              25
  17  AlarmClock      -2.447         0.674          -2.988         0              0              0              40
  18  CellPhone       2.039          0.307          0.150          0              0              0              33
  19  KeyChain        2.685          1.228          1.283          0              270            0              45
  20  Pillow          -0.742         0.680          -2.061         0              0              0              25
  21  Pillow          -1.874         0.680          -2.461         0              0              0              25
  22  CD              2.713          0.924          1.342          0              270            0              43
  23  Mug             -2.394         0.679          -0.746         0              180            0              47
  24  Bowl            1.840          0.889          -3.239         0              0              0              38
  25  Bed             -1.613         -0.028         -1.861         0              270            0
  26  DeskLamp        2.760          0.890          -3.317         0              90             0
  27  DeskLamp        -2.459         0.668          -0.532         0              90             0
  28  LightSwitch     -0.700         1.016          0.334          0              90             0
  29  GarbageCan      1.343          1.087          -3.374         0              0              0
  30  Mirror          0.532          1.419          2.0            0              0              0
  31  Window          -0.834         1.394          -3.653         90             0              0
  32  Window          2.958          1.508          -1.019         90             270            0
  33  Sofa            2.383          0.008          -0.288         0              270            0
  34  Safe            2.721          1.228          1.784          0              270            0
  35  Drawer          1.979          0.486          -2.988         0              0              0
  36  Drawer          1.979          0.728          -2.988         0              0              0
  37  Drawer          1.979          0.208          -2.988         0              0              0
  38  Desk            2.318          -0.009         -3.214         0              0              0
  39  Drawer          -2.349         0.163          -3.150         0              90             0
  40  SideTable       -2.416         -0.001         -3.149         0              90             0
  41  Drawer          -2.349         0.455          -3.150         0              90             0
  42  Drawer          2.641          0.172          1.511          0              270            0
  43  Drawer          2.641          1.002          1.511          0              270            0
  44  Drawer          2.641          0.448          1.511          0              270            0
  45  Dresser         2.676          0.002          1.511          0              270            0
  46  Drawer          2.641          0.725          1.511          0              270            0
  47  SideTable       -2.416         -0.001         -0.514         0              90             0
  48  Drawer          -2.349         0.163          -0.514         0              90             0
  49  Drawer          -2.349         0.455          -0.514         0              90             0
  50  Blinds          -0.800         2.087          -3.627         0              0              0
  51  Blinds          2.931          2.166          -1.0           0              270            0
  52  Chair           2.574          0.002          -2.881         0              175.162        0
  53  NorthWall
  54  EastWall
  55  SouthWall
  56  WestWall

Plan:
STEP 1: Go forward and slightly right to the trash canister. | STEP 2: Pick up the pen out of the canister. | STEP 3: Turn around and veer left to the cabinet on the right side of the bed. | STEP 4: Put the pen in the mug on the counter. | STEP 5: Pick up the mug. | STEP 6: Go forward and veer right to the desk. | STEP 7: Put the mug on the desk in front of and to the right of the pencil. | END