Task: Move a pen and cup from the desk to the chest of drawers.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.5            0.900          0.0            0              90             0
   1  TissueBox       -1.294         0.969          -0.919         0              0              0              53
   2  Watch           1.559          0.349          -1.189         0              0              0              62
   3  CD              2.027          0.795          -1.282         0              0              0              54
   4  CellPhone       -1.322         0.679          -0.543         0              0              0              48
   5  Pen             1.651          0.800          -1.185         0              0              0              54
   6  Pencil          2.208          1.281          -1.387         0              0              0              39
   7  Pencil          -1.283         1.236          -0.745         0              0              0              49
   8  CreditCard      2.554          1.278          -1.387         0              0              0              40
   9  CreditCard      1.982          0.127          -1.218         0              0              0              57
  10  KeyChain        1.982          0.569          -1.274         0              90             0              56
  11  Book            -0.902         0.574          1.179          0              332.922        0              30
  12  Box             2.734          0.195          0.89           0              0              0
  13  Laptop          -0.979         0.681          1.580          0              0              0              30
  14  CellPhone       -1.248         1.238          -0.649         0              0              0              49
  15  BaseballBat     2.847          0.643          1.838          0              0              335.111
  16  BasketBall      1.019          0.330          -0.977         346.776        295.638        1.020
  17  TissueBox       1.630          0.570          -1.218         0              0              0              58
  18  CreditCard      1.961          0.802          -1.400         0              0              0              54
  19  AlarmClock      -1.269         1.227          -0.473         0              228.190        0              49
  20  Pencil          2.591          0.798          -1.185         0              0              0              54
  21  Boots           -1.279         0.000          -1.343         0              27.143         0
  22  Pillow          -0.289         0.640          0.602          0              0              0              30
  23  KeyChain        -1.318         1.235          -0.840         0              90             0              49
  24  Bowl            2.451          0.788          -1.207         0              0              0              54
  25  Watch           2.591          0.795          -1.121         0              0              0              54
  26  CD              2.859          0.039          0.218          0              270            0              32
  27  Pen             1.708          1.053          -1.373         0              0              0              42
  28  Mug             2.821          0.788          -1.223         0              0              0              54
  29  Statue          1.823          1.036          -1.419         0              0              0              54
  30  Bed             -0.640         0.008          0.871          0              0              0
  31  DeskLamp        -1.319         1.238          -0.994         0              90             0
  32  GarbageCan      2.838          0.007          0.215          0              270            0
  33  Blinds          0.111          2.337          -1.436         0              0              0
  34  Mirror          1.985          1.381          1.875          0              0              0
  35  Window          0.118          1.496          -1.588         90             180            0
  36  LightSwitch     2.654          1.276          1.899          0              180            0
  37  Chair           2.457          0.011          -0.997         0              189.124        0
  38  Shelf           2.476          0.919          -1.384         0              0              0
  39  Shelf           2.251          1.503          -1.383         0              0              0
  40  Shelf           2.700          1.510          -1.380         0              0              0
  41  Shelf           2.476          1.153          -1.384         0              0              0
  42  Shelf           1.803          1.386          -1.384         0              0              0
  43  Shelf           1.803          0.919          -1.381         0              0              0
  44  DogBed          0.920          0.013          -1.044         0              0              0
  45  Drawer          -1.305         0.454          -0.918         0              90             0
  46  Drawer          -1.305         0.752          -0.919         0              90             0
  47  Drawer          -1.305         0.178          -0.918         0              90             0
  48  Drawer          -1.305         0.752          -0.579         0              90             0
  49  Dresser         -1.328         0.011          -0.744         0              90             0
  50  Drawer          -1.306         1.031          -0.579         0              90             0
  51  Drawer          -1.305         0.454          -0.578         0              90             0
  52  Drawer          -1.305         0.178          -0.578         0              90             0
  53  Drawer          -1.305         1.031          -0.919         0              90             0
  54  Desk            2.211          0.009          -1.259         0              0              0
  55  Drawer          2.817          0.189          -1.176         0              0              0
  56  Drawer          1.940          0.632          -1.176         0              0              0
  57  Drawer          1.940          0.189          -1.176         0              0              0
  58  Drawer          1.623          0.632          -1.176         0              0              0
  59  Drawer          2.817          0.632          -1.176         0              0              0
  60  Drawer          2.817          0.411          -1.176         0              0              0
  61  Drawer          1.623          0.189          -1.176         0              0              0
  62  Drawer          1.623          0.410          -1.176         0              0              0
  63  Drawer          1.940          0.410          -1.176         0              0              0
  64  NorthWall
  65  EastWall
  66  SouthWall
  67  WestWall

Plan:
STEP 1: Turn to your right and approach the black chair. | STEP 2: Pick up the pen from the desk. | STEP 3: Turn around to look at the door then turn right and walk to the wall, then back to the desk. | STEP 4: Put the pen into the cup. | STEP 5: Pick up the pen with the pen in it. | STEP 6: Turn around then walk to the left to the chest of drawers. | STEP 7: Place the cup on the chest of drawers to the left of the phone. | END