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

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           0.900          -0.25          0              270            0
   1  Mug             -2.394         0.679          -3.382         0              90             0              43
   2  Mug             -2.394         0.679          -2.995         0              90             0              43
   3  Mug             -2.394         0.679          -0.281         0              90             0              50
   4  CellPhone       -1.025         0.619          -1.262         0              0              0              28
   5  Pen             2.643          0.651          1.511          0              270            0              49
   6  Pen             -2.484         0.686          -3.072         0              90             0              43
   7  Pencil          1.694          0.901          -3.320         0              0              0              41
   8  Pencil          1.344          0.024          -3.342         0              0              0              32
   9  CreditCard      -2.575         0.680          -0.281         0              90             0              50
  10  CreditCard      2.544          1.228          1.283          0              270            0              48
  11  KeyChain        2.678          0.645          1.426          0              270            0              49
  12  KeyChain        -2.476         0.082          -3.149         0              180            0              42
  13  AlarmClock      2.732          1.232          1.511          0              270            0              48
  14  Book            -0.742         0.618          -1.861         0              0              0              28
  15  CreditCard      2.826          1.228          1.397          0              270            0              48
  16  Pen             2.638          1.234          1.168          0              270            0              48
  17  Pencil          2.638          1.232          1.397          0              270            0              48
  18  TeddyBear       -0.667         0.612          -1.364         0              81.467         0              28
  19  Laptop          -1.31          0.612          -1.542         0              0              0              28
  20  AlarmClock      -2.575         0.684          -3.227         0              90             0              43
  21  CellPhone       2.591          1.228          1.168          0              0              0              48
  22  KeyChain        2.826          1.228          1.168          0              270            0              48
  23  Pillow          -2.124         0.658          -1.522         0              28.296         0              28
  24  Pillow          -2.378         0.637          -2.330         0              0              0              28
  25  CD              1.316          0.019          -3.407         0              0              0              32
  26  Mug             -2.494         0.673          -0.717         0              275.781        0              50
  27  Bowl            1.840          0.889          -3.239         0              0              0              41
  28  Bed             -1.613         -0.028         -1.861         0              270            0
  29  DeskLamp        2.760          0.890          -3.317         0              90             0
  30  DeskLamp        -2.459         0.668          -0.532         0              90             0
  31  LightSwitch     -0.700         1.016          0.334          0              90             0
  32  GarbageCan      1.343          1.087          -3.374         0              0              0
  33  Mirror          0.532          1.419          2.0            0              0              0
  34  Window          -0.834         1.394          -3.653         90             0              0
  35  Window          2.958          1.508          -1.019         90             270            0
  36  Sofa            2.383          0.008          -0.288         0              270            0
  37  Safe            2.721          1.228          1.784          0              270            0
  38  Drawer          1.979          0.486          -2.988         0              0              0
  39  Drawer          1.979          0.728          -2.988         0              0              0
  40  Drawer          1.979          0.208          -2.988         0              0              0
  41  Desk            2.318          -0.009         -3.214         0              0              0
  42  Drawer          -2.349         0.163          -3.150         0              90             0
  43  SideTable       -2.416         -0.001         -3.149         0              90             0
  44  Drawer          -2.349         0.455          -3.150         0              90             0
  45  Drawer          2.641          0.172          1.511          0              270            0
  46  Drawer          2.641          1.002          1.511          0              270            0
  47  Drawer          2.641          0.448          1.511          0              270            0
  48  Dresser         2.676          0.002          1.511          0              270            0
  49  Drawer          2.641          0.725          1.511          0              270            0
  50  SideTable       -2.416         -0.001         -0.514         0              90             0
  51  Drawer          -2.349         0.163          -0.514         0              90             0
  52  Drawer          -2.349         0.455          -0.514         0              90             0
  53  Blinds          -0.800         2.087          -3.627         0              0              0
  54  Blinds          2.931          2.166          -1.0           0              270            0
  55  Chair           2.574          0.002          -2.881         0              175.162        0
  56  NorthWall
  57  EastWall
  58  SouthWall
  59  WestWall

Plan:
STEP 1: Go left, then turn right, go straight to the end table on the left side of the bed. | STEP 2: Pick up the pen on the end table. | STEP 3: Place the pen in the rightmost mug. | STEP 4: Pick up the rightmost mug on the end table. | STEP 5: Turn around, then turn left, then turn right, then turn right at the desk. | STEP 6: Placed a mug on the desk in front of and to the left of the gray bowl. | END