Task: place mug with pen on top of CD on white dresser

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.25           0.900          -0.5           0              180            0
   1  Mug             1.651          0.793          -1.249         0              0              0              60
   2  Mug             2.215          0.792          -1.249         0              0              0              60
   3  Mug             2.591          0.793          -1.249         0              180            0              60
   4  TissueBox       -1.293         0.107          -0.580         0              0              0              58
   5  TissueBox       -1.293         0.384          -0.614         0              0              0              57
   6  Book            -0.462         0.565          0.846          0              0              0              36
   7  CD              2.027          0.795          -1.282         0              0              0              60
   8  CD              2.839          0.039          0.218          0              270            0              38
   9  CellPhone       -1.245         1.231          -0.835         3.007          1.335          0              55
  10  Pen             2.027          0.801          -1.217         0              0              0              60
  11  Pencil          2.604          1.281          -1.387         0              0              0              46
  12  Pencil          -1.388         1.232          -0.628         75.691         115.541        180            55
  13  CreditCard      1.701          0.569          -1.246         0              0              0              64
  14  CreditCard      1.911          1.047          -1.388         0              0              0              48
  15  KeyChain        -1.237         0.676          -0.918         0              0              0              52
  16  Pillow          -0.979         0.640          0.113          0              0              0              36
  17  Book            -0.902         0.574          1.179          0              332.922        0              36
  18  Box             2.734          0.195          0.89           0              0              0
  19  Laptop          -0.5           0.56           0.286          0              63.464         0              36
  20  CellPhone       -1.293         0.109          -0.917         0              0              0              53
  21  BaseballBat     2.847          0.643          1.838          0              0              335.111
  22  BasketBall      1.019          0.330          -0.977         346.777        295.593        1.022
  23  TissueBox       1.946          0.129          -1.218         0              0              0              63
  24  CreditCard      -1.294         0.675          -0.507         0              0              0              54
  25  AlarmClock      -1.270         1.227          -0.473         0              227.867        0              55
  26  Pencil          1.758          0.806          -1.385         0              0              0              60
  27  Boots           -1.279         0.000          -1.343         0              27.143         0
  28  Pillow          -0.634         0.63           1.611          0              0              0              36
  29  KeyChain        -1.317         1.229          -0.744         0              0              358.92         55
  30  Bowl            2.451          0.788          -1.207         0              0              0              60
  31  Watch           2.482          1.044          -1.383         0              0              0              47
  32  CD              -1.283         1.233          -0.649         0              0              0              55
  33  Pen             2.215          0.800          -1.153         0              0              0              60
  34  Mug             2.821          0.788          -1.223         0              0              0              60
  35  Statue          1.823          1.036          -1.419         0              0              0              60
  36  Bed             -0.640         0.008          0.871          0              0              0
  37  DeskLamp        -1.319         1.238          -0.994         0              90             0
  38  GarbageCan      2.838          0.007          0.215          0              270            0
  39  Blinds          0.111          2.337          -1.436         0              0              0
  40  Mirror          1.985          1.381          1.875          0              0              0
  41  Window          0.118          1.496          -1.588         90             180            0
  42  LightSwitch     2.654          1.276          1.899          0              180            0
  43  Chair           2.457          0.011          -0.997         0              189.124        0
  44  Shelf           2.476          0.919          -1.384         0              0              0
  45  Shelf           2.251          1.503          -1.383         0              0              0
  46  Shelf           2.700          1.510          -1.380         0              0              0
  47  Shelf           2.476          1.153          -1.384         0              0              0
  48  Shelf           1.803          1.386          -1.384         0              0              0
  49  Shelf           1.803          0.919          -1.381         0              0              0
  50  DogBed          0.920          0.013          -1.044         0              0              0
  51  Drawer          -1.305         0.454          -0.918         0              90             0
  52  Drawer          -1.305         0.752          -0.919         0              90             0
  53  Drawer          -1.305         0.178          -0.918         0              90             0
  54  Drawer          -1.305         0.752          -0.579         0              90             0
  55  Dresser         -1.328         0.011          -0.744         0              90             0
  56  Drawer          -1.306         1.031          -0.579         0              90             0
  57  Drawer          -1.305         0.454          -0.578         0              90             0
  58  Drawer          -1.305         0.178          -0.578         0              90             0
  59  Drawer          -1.305         1.031          -0.919         0              90             0
  60  Desk            2.211          0.009          -1.259         0              0              0
  61  Drawer          2.817          0.189          -1.176         0              0              0
  62  Drawer          1.940          0.632          -1.176         0              0              0
  63  Drawer          1.940          0.189          -1.176         0              0              0
  64  Drawer          1.623          0.632          -1.176         0              0              0
  65  Drawer          2.817          0.632          -1.176         0              0              0
  66  Drawer          2.817          0.411          -1.176         0              0              0
  67  Drawer          1.623          0.189          -1.176         0              0              0
  68  Drawer          1.623          0.410          -1.176         0              0              0
  69  Drawer          1.940          0.410          -1.176         0              0              0
  70  NorthWall
  71  EastWall
  72  SouthWall
  73  WestWall

Plan:
STEP 1: go to right side of black desk chair | STEP 2: pick up pen from desk in front of white mug | STEP 3: place pen in white mug on desk | STEP 4: pick up white mug with pen from desk | STEP 5: turn right, go to white dresser to the left of bed | STEP 6: place mug with pen on top of CD on white dresser  | END