Task: Put a plate with a pen on the coffee table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -4.25          0.907          2.5            0              180            0
   1  Bowl            -4.295         0.756          -0.502         0              0              0              55
   2  Bowl            -4.477         0.756          -0.626         0              0              0              53
   3  TissueBox       0.319          0.553          2.454          0              0              0              40
   4  TissueBox       0.578          0.553          2.605          0              0              0              40
   5  Newspaper       0.578          0.558          2.153          0              0              0              40
   6  Watch           -1.132         0.881          0.101          0              90             0              57
   7  Watch           -3.747         0.754          -0.379         0              0              0              55
   8  Vase            -4.112         0.757          -0.502         0              0              0              55
   9  Pencil          -1.236         0.882          0.101          0              90             0              57
  10  KeyChain        -1.340         0.880          0.062          0              90             0              57
  11  KeyChain        0.585          0.038          2.475          0              0              0              45
  12  Book            -0.970         0.450          3.031          0              0              0              56
  13  RemoteControl   0.585          0.360          2.475          0              0              0              46
  14  Book            -4.842         0.755          -0.626         0              0              0              51
  15  Box             0.957          0.286          6.189          0              327.955        0              48
  16  Pillow          0.438          0.581          5.162          321.968        0              0              48
  17  Bowl            0.233          0.553          2.304          0              0              0              40
  18  WateringCan     -0.816         0.005          0.189          0              0              0
  19  TissueBox       0.578          0.553          3.056          0              0              0              40
  20  Newspaper       0.816          0.430          4.371          0              90             0              47
  21  CreditCard      -1.204         0.449          2.559          0              0              0              56
  22  KeyChain        0.171          0.425          4.246          0              270            0              47
  23  Boots           -6.309         0.006          1.252          0              92.842         0
  24  Pencil          -6.211         0.064          2.800          0              0              0              35
  25  Laptop          -1.087         0.448          2.086          0              0              0              56
  26  Vase            0.147          0.554          3.056          0              0              0              40
  27  RemoteControl   0.664          0.554          3.056          0              0              0              40
  28  Watch           -3.930         0.754          -0.379         0              0              0              55
  29  CellPhone       0.601          0.424          4.309          0              90             0              47
  30  Plate           -4.044         0.748          -0.078         0              0              0              54
  31  Painting        -6.5           1.759          -0.341         0              0              0
  32  Painting        0.704          1.778          0.782          0              0              0
  33  Television      1.5            1.690          2.562          0              270            0
  34  FloorLamp       1.111          0.007          6.805          0              0              0
  35  GarbageCan      -6.128         -0.003         2.800          0              0              0
  36  LightSwitch     -6.5           1.498          1.345          0              90             0
  37  HousePlant      -0.753         0.874          0.209          0              0              0
  38  Window          1.496          1.712          4.454          90             90             0
  39  Window          -4.210         1.577          -1.980         90             180            0
  40  CoffeeTable     0.405          0.008          2.605          0              270            0
  41  Drawer          0.597          0.234          2.604          0              270            0
  42  Drawer          0.214          0.393          2.604          0              270            0
  43  Drawer          0.214          0.234          2.609          0              270            0
  44  Drawer          0.214          0.075          2.604          0              270            0
  45  Drawer          0.597          0.075          2.604          0              270            0
  46  Drawer          0.597          0.393          2.604          0              270            0
  47  Ottoman         0.493          0.006          4.309          0              0              0
  48  ArmChair        0.420          0.014          5.129          0              180            0
  49  Chair           -4.664         0.008          0.164          0              180            0
  50  Chair           -3.424         0.008          -0.321         0              270            0
  51  Chair           -4.988         0.008          -0.401         0              90             0
  52  Chair           -3.904         0.008          -0.827         0              0              0
  53  Chair           -4.570         0.008          -0.831         0              0              0
  54  Chair           -3.996         0.008          0.091          0              180            0
  55  DiningTable     -4.295         0.006          -0.378         0              0              0
  56  Sofa            -1.527         0.013          2.559          0              90             0
  57  SideTable       -1.030         0.006          0.160          0              0              0
  58  Drawer          -1.030         0.780          0.225          0              0              0
  59  NorthWall
  60  EastWall
  61  SouthWall
  62  WestWall

Plan:
STEP 1: Move to the end table to the right of the fire place | STEP 2: Pick up a pencil from the end table | STEP 3: Move to the dining table to the right of you | STEP 4: Put the pencil on a plate on the table | STEP 5: Pick up a plate from the table with the pencil | STEP 6: Move to the coffee table to the left of the fire place | STEP 7: Place the plate on the coffee table | END