Task: Place a mug with a pen in it on a dresser.

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          -1.0           0              270            0
   1  Mug             -1.515         0.597          -0.392         0              0              0              49
   2  Mug             -1.515         0.597          -0.533         0              0              0              49
   3  Vase            1.788          1.578          -2.298         0              0              0              33
   4  CD              -1.912         0.598          -0.533         0              0              0              49
   5  Pen             -1.828         0.514          -1.274         0              0              0              51
   6  Pen             1.723          0.060          -2.261         0              0              0              60
   7  Pencil          1.723          0.359          -2.282         0              0              0              57
   8  CreditCard      -1.794         0.216          -1.076         0              0              0              50
   9  Laptop          -0.794         0.415          -2.100         0              0              0              48
  10  AlarmClock      0.076          0.730          -2.764         0              180            0              42
  11  Box             1.996          0.316          -1.042         0              254.839        0
  12  Book            0.339          0.723          -2.65          0              165.000        0              42
  13  Pillow          -1.548         0.457          -1.831         0              90             0              48
  14  CellPhone       -1.485         0.417          -1.488         0              0              0              48
  15  Vase            1.194          0.055          -2.303         0              0              0              58
  16  BaseballBat     -1.629         0.649          0.416          14.491         0              0
  17  CreditCard      -1.901         0.508          -1.065         0              0              0              51
  18  TennisRacket    2.244          0.279          -1.901         335.402        251.974        201.714
  19  KeyChain        0.651          0.731          -2.471         0              180            0              42
  20  AlarmClock      0.766          0.730          -2.705         0              180            0              42
  21  Cloth           2.176          0.0            -0.571         0              335.474        0
  22  Laptop          -1.764         0.591          -0.112         0              113.510        0              49
  23  CD              1.981          1.577          -2.319         0              0              0              33
  24  CD              -1.912         0.598          -0.392         0              0              0              49
  25  Pen             -1.714         0.604          -0.533         0              0              0              49
  26  Pencil          0.450          0.418          -2.550         0              0              0              44
  27  Mug             -1.755         0.506          -1.190         0              0              0              51
  28  Shelf           1.311          0.969          -2.298         0              0              0
  29  Shelf           1.843          0.969          -2.298         0              0              0
  30  Shelf           1.311          1.171          -2.298         0              0              0
  31  Shelf           1.843          1.171          -2.298         0              0              0
  32  Shelf           1.311          1.368          -2.298         0              0              0
  33  Shelf           1.843          1.570          -2.298         0              0              0
  34  Shelf           1.843          1.368          -2.298         0              0              0
  35  Shelf           1.311          1.570          -2.298         0              0              0
  36  DeskLamp        -1.848         0.592          -0.786         0              90             0
  37  GarbageCan      2.197          -0.007         0.298          0              232.025        0
  38  LightSwitch     -0.638         1.149          0.499          0              180            0
  39  Poster          0.001          1.495          -2.642         90             90             0
  40  Mirror          -1.072         1.469          0.497          0              0              0
  41  Window          0.435          1.398          -2.855         90             0              0
  42  SideTable       0.435          0.036          -2.647         0              0              0
  43  Drawer          0.433          0.203          -2.445         0              0              0
  44  Drawer          0.433          0.505          -2.445         0              0              0
  45  Dumbbell        -1.656         0.602          -0.534         0              90             0
  46  Blinds          0.449          2.164          -2.845         0              0              0
  47  GarbageBag      1.730          0.318          0.222          270            90             83.412
  48  Bed             -1.047         -0.000         -1.851         0              270            0
  49  Desk            -1.710         0.000          -0.374         0              90             0
  50  Drawer          -1.790         0.245          -1.144         0              90             0
  51  SideTable       -1.824         0.000          -1.144         0              90             0
  52  Drawer          -1.790         0.392          -1.144         0              90             0
  53  Drawer          -1.790         0.097          -1.144         0              90             0
  54  Chair           -1.453         0.005          -0.311         0              286.095        0
  55  Shelf           1.591          0.606          -2.305         0              0              0
  56  ShelvingUnit    1.588          0.004          -2.326         0              0              0
  57  Shelf           1.854          0.453          -2.298         0              0              0
  58  Shelf           1.321          0.155          -2.296         0              0              0
  59  Shelf           1.323          0.456          -2.300         0              0              0
  60  Shelf           1.852          0.152          -2.294         0              0              0
  61  NorthWall
  62  EastWall
  63  SouthWall
  64  WestWall

Plan:
STEP 1: Walk ahead to the end table. | STEP 2: Pick up the black pen. | STEP 3: Put the pen in the white mug. | STEP 4: Pick up the mug. | STEP 5: Turn around, walk past the bed, and turn right and walk to the dresser near the mirror. | STEP 6: Put the mug to the right of the keys on the counter. | END