Task: Move a mug containing a pen from a desk to a 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           0.75           0.901          2.5            0              270            0
   1  Mug             -0.455         0.063          2.091          0              0              0              35
   2  CD              2.100          0.726          -0.502         0              270            0              60
   3  CD              -0.668         0.978          -1.134         0              0              0              51
   4  CellPhone       -0.589         0.286          2.711          0              0              0              47
   5  Pen             1.662          0.112          -0.731         0              90             0              56
   6  Pencil          -0.761         0.672          2.815          0              90             0              46
   7  Pencil          1.515          0.730          -0.502         0              270            0              60
   8  CreditCard      -0.543         0.978          -1.228         0              0              0              51
   9  KeyChain        -0.541         0.285          2.877          0              0              0              47
  10  Book            -0.596         1.504          -0.496         0              0              0              50
  11  Laptop          -0.867         1.498          -0.942         0              0              0              50
  12  Laptop          -1.137         1.498          -0.496         0              0              0              50
  13  AlarmClock      2.100          0.727          -0.256         0              270            0              60
  14  Book            -0.745         0.069          2.163          0              0              0              35
  15  Box             -0.493         0.2            -0.286         0              84.024         0
  16  TennisRacket    -1.345         0.288          0.233          30.000         270            180
  17  Pen             1.612          0.732          -0.010         0              270            0              60
  18  AlarmClock      -0.423         0.678          2.364          0              90             0              36
  19  Pillow          -0.63          1.871          3.047          0              0              0              55
  20  Pillow          -0.632         1.922          1.631          0              0              0              55
  21  CellPhone       -0.386         0.670          2.728          0              90             0              46
  22  KeyChain        -0.961         0.677          1.991          0              90             0              36
  23  CreditCard      -0.655         0.737          -1.237         0              0              0              52
  24  CD              -0.709         0.978          -1.603         0              0              0              51
  25  Pencil          1.715          0.317          -0.362         0              90             0              62
  26  Laptop          1.799          0.719          -0.626         0              336.963        0              60
  27  Mug             1.905          0.724          -0.010         0              270            0              60
  28  DeskLamp        2.016          0.701          0.708          0              0              0
  29  Painting        2.199          1.771          -0.101         90             270            0
  30  GarbageCan      2.022          -0.037         -1.239         0              270            0
  31  Mirror          2.229          1.254          2.664          0              90             0
  32  LightSwitch     2.199          1.258          1.988          0              270            0
  33  Window          1.575          1.559          -1.953         90             180            0
  34  Drawer          -0.551         0.578          2.246          0              90             0
  35  Cabinet         -0.649         0.270          2.247          0              90             0
  36  Desk            -0.655         0.006          1.814          0              90             0
  37  Shelf           1.769          0.184          0.757          0              270            0
  38  Shelf           1.769          0.572          0.757          0              270            0
  39  Shelf           1.769          0.572          0.935          0              270            0
  40  Shelf           1.769          0.378          0.935          0              270            0
  41  Shelf           1.769          0.378          0.757          0              270            0
  42  Shelf           1.769          0.184          0.935          0              270            0
  43  Blinds          1.547          2.434          -1.886         0              0              0
  44  Drawer          -0.553         0.155          2.942          0              90             0
  45  Drawer          -0.553         0.572          2.942          0              90             0
  46  Dresser         -0.665         0.001          2.939          0              90             0
  47  Drawer          -0.553         0.376          2.942          0              90             0
  48  Chair           1.482          0.012          0.223          0              77.085         0
  49  Chair           -0.199         0.012          1.538          0              287.086        0
  50  Bed             -0.866         0.007          -0.919         0              0              0
  51  Dresser         -0.772         0.001          -1.313         0              90             0
  52  Drawer          -0.660         0.830          -1.309         0              90             0
  53  Drawer          -0.660         0.225          -1.309         0              90             0
  54  Drawer          -0.660         0.547          -1.309         0              90             0
  55  Bed             -0.872         1.637          2.188          0              0              0
  56  Drawer          1.685          0.160          -0.805         0              270            0
  57  Drawer          1.685          0.160          -0.378         0              270            0
  58  Drawer          1.685          0.547          -0.805         0              270            0
  59  Drawer          1.685          0.547          -0.378         0              270            0
  60  Desk            1.812          0.003          -0.014         0              270            0
  61  Drawer          1.685          0.354          -0.805         0              270            0
  62  Drawer          1.685          0.354          -0.378         0              270            0
  63  ArmChair        1.712          -0.000         1.532          0              270            0
  64  NorthWall
  65  EastWall
  66  SouthWall
  67  WestWall

Plan:
STEP 1: Turn around to the left, walk to the desk, turning left at the chair.  | STEP 2: Pick up the blue pen from the desk top.  | STEP 3: Walk forward and closer to the desk.  | STEP 4: Place the pen into the white mug that is on the desk.  | STEP 5: Lift the mug with the pen off of the desk.  | STEP 6: Turn to the right, walk to the wall, turn to the right after reaching the wall, walk to the chest of drawers with the mug in hand.  | STEP 7: Place the mug on the top of the chest of drawers.  | END