Task: Place a mug containing a pen 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           -0.25          0.900          1.25           0              90             0
   1  Mug             -2.484         0.679          -3.382         0              90             0              43
   2  Mug             -2.575         0.679          -0.591         0              0              0              50
   3  Mug             2.779          1.226          1.397          0              270            0              48
   4  CD              -2.484         0.680          -3.15          0              90             0              43
   5  CellPhone       2.732          1.228          1.283          0              270            0              48
   6  CellPhone       -0.742         0.619          -2.461         0              0              0              28
   7  Pen             2.678          0.100          1.426          0              270            0              45
   8  Pen             2.728          0.902          -3.044         0              0              0              41
   9  CreditCard      2.039          0.896          -3.320         0              0              0              41
  10  CreditCard      -2.575         0.680          -0.359         0              90             0              50
  11  KeyChain        2.556          0.896          -3.389         0              0              0              41
  12  KeyChain        1.708          0.080          -2.987         0              270            0              38
  13  Laptop          -1.874         0.617          -2.261         0              0              0              28
  14  Book            -1.874         0.618          -1.861         0              0              0              28
  15  CreditCard      2.608          0.094          1.510          0              270            0              45
  16  Pen             2.685          1.234          1.397          0              270            0              48
  17  Pencil          -2.349         0.685          -0.668         0              90             0              50
  18  TeddyBear       -0.667         0.612          -1.364         0              81.467         0              28
  19  Laptop          -1.31          0.612          -1.542         0              0              0              28
  20  AlarmClock      2.384          0.900          -3.182         0              0              0              41
  21  CellPhone       2.735          1.249          1.737          0              0              0              37
  22  KeyChain        1.867          0.896          -3.389         0              0              0              41
  23  Pillow          -2.124         0.658          -1.522         0              28.296         0              28
  24  Pillow          -2.378         0.637          -2.330         0              0              0              28
  25  CD              -2.452         0.373          -2.978         0              270            0              44
  26  Mug             2.591          1.226          1.397          0              270            0              48
  27  Bowl            1.840          0.889          -3.239         0              0              0              41
  28  Bed             -1.613         -0.028         -1.861         0              270            0
  29  DeskLamp        2.760          0.890          -3.317         0              90             0
  30  DeskLamp        -2.459         0.668          -0.532         0              90             0
  31  LightSwitch     -0.700         1.016          0.334          0              90             0
  32  GarbageCan      1.343          1.087          -3.374         0              0              0
  33  Mirror          0.532          1.419          2.0            0              0              0
  34  Window          -0.834         1.394          -3.653         90             0              0
  35  Window          2.958          1.508          -1.019         90             270            0
  36  Sofa            2.383          0.008          -0.288         0              270            0
  37  Safe            2.721          1.228          1.784          0              270            0
  38  Drawer          1.979          0.486          -2.988         0              0              0
  39  Drawer          1.979          0.728          -2.988         0              0              0
  40  Drawer          1.979          0.208          -2.988         0              0              0
  41  Desk            2.318          -0.009         -3.214         0              0              0
  42  Drawer          -2.349         0.163          -3.150         0              90             0
  43  SideTable       -2.416         -0.001         -3.149         0              90             0
  44  Drawer          -2.349         0.455          -3.150         0              90             0
  45  Drawer          2.641          0.172          1.511          0              270            0
  46  Drawer          2.641          1.002          1.511          0              270            0
  47  Drawer          2.641          0.448          1.511          0              270            0
  48  Dresser         2.676          0.002          1.511          0              270            0
  49  Drawer          2.641          0.725          1.511          0              270            0
  50  SideTable       -2.416         -0.001         -0.514         0              90             0
  51  Drawer          -2.349         0.163          -0.514         0              90             0
  52  Drawer          -2.349         0.455          -0.514         0              90             0
  53  Blinds          -0.800         2.087          -3.627         0              0              0
  54  Blinds          2.931          2.166          -1.0           0              270            0
  55  Chair           2.574          0.002          -2.881         0              175.162        0
  56  NorthWall
  57  EastWall
  58  SouthWall
  59  WestWall

Plan:
STEP 1: Turn left and move towards the wall with the mirror then turn right and move to the dresser to the left of the couch. | STEP 2: Pick up the pen between the two mugs and next to the smartphone. | STEP 3: Place the pen in the mug closest to you on the edge of the dresser | STEP 4: Pick up the mug containing the pen from the dresser. | STEP 5: Turn around, move towards the door, then turn left and move to the end of the couch, then turn left and move towards the wall with the window, then turn right and move to the desk next to the trash bin. | STEP 6: Place the mug containing the pen on top of the desk above the first desk drawer and to the right of the alarm clock. | END