Task: put a coffee mug with a pen inside of it on to the bathroom counter

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.910          0.75           0              180            0
   1  Bowl            -0.815         0.915          3.982          0              0              0              29
   2  CD              -0.815         0.913          3.799          0              0              0              29
   3  CD              2.454          0.399          -0.681         0              270            0              44
   4  CellPhone       2.367          0.807          2.613          0              0              0              40
   5  Pencil          2.69           0.846          1.017          0              0              0              41
   6  Pencil          -0.946         0.916          4.166          0              0              0              29
   7  CreditCard      2.542          0.745          -1.619         0              90             0              37
   8  CreditCard      -0.749         0.913          4.717          0              0              0              29
   9  KeyChain        2.327          0.745          -1.570         0              180            0              37
  10  Book            -1.128         0.399          -1.140         0              90             0              38
  11  Laptop          -0.594         0.712          1.690          0              0              0              26
  12  Book            2.618          0.460          0.819          0              0              0              43
  13  AlarmClock      2.680          0.815          2.392          0              0              0              40
  14  CellPhone       -0.749         0.913          4.900          0              0              0              29
  15  Bowl            2.471          0.809          3.053          0              0              0              40
  16  CreditCard      2.447          0.744          -1.516         0              0              0              37
  17  KeyChain        2.850          0.843          0.230          0              180            0              41
  18  RemoteControl   -1.078         0.914          4.717          0              0              0              29
  19  Laptop          -1.312         0.712          2.539          0              0              0              26
  20  Pencil          2.447          0.747          -1.731         0              0              0              37
  21  Pillow          0.123          0.785          2.539          0              0              0              26
  22  Pillow          -0.247         0.752          2.960          0              0              0              26
  23  CD              2.449          0.842          1.017          0              0              0              41
  24  Pen             -0.749         0.919          4.35           0              0              0              29
  25  Mug             2.889          0.806          2.833          0              0              0              40
  26  Bed             -0.594         0.009          2.298          0              0              0
  27  Mirror          -1.184         1.603          4.348          0              0              0
  28  Television      2.738          1.330          0.622          0              270            0
  29  CounterTop      -0.890         0.951          4.349          0              0              0
  30  LightSwitch     0.800          1.371          5.245          0              90             0
  31  Painting        2.992          1.529          3.415          90             270            0
  32  Painting        2.992          1.529          2.553          90             270            0
  33  DeskLamp        2.625          0.772          -1.469         0              0              0
  34  DeskLamp        2.668          0.810          3.082          0              358.947        0
  35  GarbageCan      -0.626         -0.009         3.742          0              0              0
  36  Window          -0.453         1.450          -2.058         90             180            0
  37  SideTable       2.565          0.009          -1.534         0              0              0
  38  ArmChair        -1.277         0.009          -1.169         0              90             0
  39  Blinds          -0.5           2.174          -1.957         0              0              0
  40  Desk            2.572          0.011          3.054          0              270            0
  41  SideTable       2.645          0.009          0.624          0              270            0
  42  Drawer          2.525          0.214          0.624          0              270            0
  43  Drawer          2.525          0.578          0.624          0              270            0
  44  ArmChair        2.424          0.009          -0.564         0              270            0
  45  LaundryHamper   3.457          0.009          4.555          0              270            0
  46  Chair           2.591          0.020          2.015          0              0              0
  47  Chair           2.184          0.020          3.440          0              120.016        0
  48  Chair           2.211          0.020          2.592          0              74.981         0
  49  NorthWall
  50  EastWall
  51  SouthWall
  52  WestWall

Plan:
STEP 1: turn to the left at the green chair and make a left after passing the bed on the left, move forward across the room and make a left at the entry way to the bathroom,  move to the bathroom counter | STEP 2: pick up the black pen on the front middle edge of the bathroom counter | STEP 3: turn around to leave the bathroom, make a right into the room, move forward to the desk on the left and turn left to face the center of the desk | STEP 4: put the pen into the mug that is to the right of the lamp at the back of the desk | STEP 5: pick up the mug with the pen inside of it | STEP 6: turn to the left and move forward to the entry way of the bathroom on the left and turn to the left and move to the counter | STEP 7: put the mug with the pen on to the middle part of the counter | END