Task: Put a mug with a pen in it on the desk.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.900          1.25           0              270            0
   1  Bowl            1.084          0.729          1.231          0              0              0              45
   2  CD              1.165          0.077          0.588          0              0              0              35
   3  Pen             1.084          0.734          1.396          0              0              0              45
   4  Pen             1.135          0.081          1.879          0              0              0              43
   5  Pen             1.342          1.144          1.246          0              270            0              42
   6  Pencil          1.288          0.732          1.727          0              0              0              45
   7  CreditCard      1.278          1.138          1.089          0              270            0              42
   8  CreditCard      -0.095         0.690          -1.572         0              0              0              47
   9  KeyChain        1.211          0.553          1.666          0              0              0              45
  10  KeyChain        1.152          0.729          1.562          0              180            0              45
  11  Pillow          1.205          0.849          0.107          0              0              0              34
  12  AlarmClock      1.356          0.729          1.396          0              0              0              45
  13  Laptop          0.955          0.776          -0.714         0              0              0              34
  14  Book            1.145          0.721          1.806          0              0              0              44
  15  Box             -1.233         0.263          -1.435         0              312.675        0
  16  CellPhone       0.829          0.782          -0.166         0              0              0              34
  17  BaseballBat     -1.717         0.708          -0.677         0              0              12.045
  18  Bowl            1.353          0.721          0.891          0              0              0              45
  19  BasketBall      -1.64          0.127          -1.652         0              0              0
  20  Laptop          0.829          0.776          0.107          0              0              0              34
  21  CreditCard      -0.266         0.388          -1.663         0              0              0              49
  22  KeyChain        1.084          0.729          0.901          0              0              0              45
  23  AlarmClock      1.342          1.131          0.960          0              270            0              42
  24  Pencil          1.288          0.732          1.066          0              0              0              45
  25  Pillow          0.872          0.816          -1.513         0              0              0              34
  26  CD              1.173          0.075          1.595          0              0              0              43
  27  Pen             1.098          0.558          1.808          0              0              0              44
  28  Mug             1.278          1.136          1.402          0              90             0              42
  29  Poster          0.978          1.970          -1.868         90             0              0
  30  Mirror          -0.884         1.350          2.086          0              0              0
  31  Poster          1.483          1.978          -1.210         90             270            0
  32  Poster          1.483          1.503          -0.128         90             270            0
  33  Poster          1.483          2.138          -0.128         90             270            0
  34  Bed             0.955          0.002          -0.722         0              0              0
  35  GarbageCan      1.133          0.032          0.581          0              0              0
  36  DeskLamp        -0.396         0.664          -1.666         0              315            0
  37  LightSwitch     0.554          1.154          2.079          0              180            0
  38  Window          -0.174         1.006          -2.009         90             0              0
  39  LaundryHamper   -1.425         0.006          1.676          0              149.999        0
  40  Chair           1.127          -8.434         1.053          0              90             0
  41  Blinds          -0.145         1.679          -1.986         0              0              0
  42  Shelf           1.316          1.174          1.388          0              270            0
  43  Drawer          1.099          0.167          1.724          0              270            0
  44  Drawer          1.099          0.622          1.724          0              270            0
  45  Desk            1.189          0.002          1.384          0              270            0
  46  Drawer          1.099          0.408          1.724          0              270            0
  47  SideTable       -0.103         -0.000         -1.691         0              0              0
  48  Drawer          -0.104         0.157          -1.618         0              0              0
  49  Drawer          -0.104         0.456          -1.618         0              0              0
  50  NorthWall
  51  EastWall
  52  SouthWall
  53  WestWall

Plan:
STEP 1: Turn around to face the desk. | STEP 2: Pick up the pen on the desk, to the right of the mug | STEP 3: Turn left, move forward, and turn right to face the desk again. | STEP 4: Put the pen in the mug, on the desk. | STEP 5: Pick up the mug with the pen in it. | STEP 6: Turn right, go forward, and turn left to face the desk again. | STEP 7: Place the mug on the desk, in front of the keys and to the right of the book | END