Task: Put a pen in a mug, on the dresser.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.902          0.75           0              90             0
   1  CD              1.781          0.801          -2.031         0              0              0              43
   2  CellPhone       -0.574         0.695          -0.146         0              0              0              23
   3  CellPhone       -1.061         0.695          -0.787         0              0              0              23
   4  Pen             1.680          0.177          -1.551         0              0              0              39
   5  KeyChain        1.719          0.801          -1.655         0              0              0              43
   6  AlarmClock      1.597          0.794          -1.278         0              0              0              43
   7  Laptop          -0.331         0.693          0.281          0              0              0              23
   8  Book            -1.061         0.694          -1.001         0              180            0              23
   9  KeyChain        1.680          0.016          -2.386         0              0              0              44
  10  AlarmClock      0.069          0.665          -2.578         0              0              0              48
  11  CreditCard      1.536          0.799          -1.655         0              0              0              43
  12  Laptop          -0.574         0.693          -0.787         0              0              0              23
  13  Pen             1.597          0.807          -1.843         0              0              0              43
  14  Pencil          1.781          0.805          -2.219         0              0              0              43
  15  BaseballBat     -1.844         0.678          -2.203         0              0              8.760          Floor|+00.01|
  16  Pillow          -1.489         0.685          -0.854         0              345.000        0              23
  17  Pillow          -1.508         0.685          -0.378         0              288.596        0              23
  18  TennisRacket    -1.597         0.001          -1.367         90             37.792         0              Floor|+00.01|
  19  CellPhone       1.633          0.334          -1.638         0              0              0              35
  20  CD              1.586          0.013          -2.298         0              0              0              44
  21  Mug             0.306          0.352          -2.598         0              90             0              49
  22  Mirror          3.534          1.661          -0.277         0              90             0
  23  Bed             -0.842         -0.000         -0.361         0              270            0
  24  DeskLamp        1.742          0.819          -1.394         0              358.556        0
  25  Painting        0.246          1.564          -2.665         90             0              0
  26  Painting        1.894          1.549          -2.424         90             270            0
  27  Painting        1.894          1.549          -1.289         90             270            0
  28  GarbageCan      3.378          0.000          0.220          0              0              0
  29  LightSwitch     -0.078         1.219          1.298          0              180            0
  30  Window          -0.486         1.409          -2.691         90             0              0
  31  Window          0.987          1.409          -2.691         90             0              0
  32  VacuumCleaner   -1.649         0.010          -2.440         0              42.426         0
  33  Blinds          -0.490         2.130          -2.638         0              0              0
  34  Blinds          1.011          2.130          -2.638         0              0              0
  35  Drawer          1.596          0.411          -1.459         0              270            0
  36  Drawer          1.597          0.732          -1.459         0              270            0
  37  Drawer          1.597          0.574          -1.459         0              270            0
  38  Drawer          1.597          0.732          -2.202         0              270            0
  39  Drawer          1.596          0.247          -1.459         0              270            0
  40  Drawer          1.596          0.090          -1.459         0              270            0
  41  Drawer          1.596          0.247          -2.202         0              270            0
  42  Drawer          1.596          0.411          -2.202         0              270            0
  43  Dresser         1.634          0.003          -1.830         0              270            0
  44  Drawer          1.596          0.090          -2.202         0              270            0
  45  Drawer          1.597          0.574          -2.202         0              270            0
  46  ShelvingUnit    0.249          0.003          -2.519         0              0              0
  47  Shelf           0.017          0.178          -2.511         0              0              0
  48  Shelf           0.249          0.665          -2.519         0              0              0
  49  Shelf           0.243          0.344          -2.511         0              0              0
  50  Shelf           0.474          0.344          -2.511         0              0              0
  51  Shelf           0.355          0.011          -2.511         0              0              0
  52  Shelf           0.016          0.011          -2.511         0              0              0
  53  Shelf           0.357          0.178          -2.511         0              0              0
  54  NorthWall
  55  EastWall
  56  SouthWall
  57  WestWall

Plan:
STEP 1: Go straight and to the right, past the bed to the shelf beneath the picture. | STEP 2: Take the mug from the middle shelf. | STEP 3: Turn around and go right toward the dresser. | STEP 4: Place the mug on the dresser, in front of the compact disk. | STEP 5: Pick up the pen on the dresser, to the right of the keys. | STEP 6: Put the pen in the mug. | END