Task: Put the sauce with 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           -3.0           0.902          5.75           0              270            0
   1  Bowl            -2.269         0.688          1.423          0              0              0              49
   2  Plate           -2.767         0.723          6.134          0              0              0              54
   3  Plate           -1.603         0.689          1.175          0              0              0              59
   4  TissueBox       -2.385         0.239          6.046          0              0              0              52
   5  Newspaper       -2.668         0.481          3.436          0              0              0              55
   6  Newspaper       -2.318         0.097          4.654          0              0              0              53
   7  Watch           -2.259         0.238          6.156          0              0              0              52
   8  Watch           -2.047         0.689          1.423          0              0              0              49
   9  Statue          -2.047         0.695          1.793          0              0              0              61
  10  Statue          -2.532         0.753          -0.072         0              0              0              57
  11  Pen             -2.134         0.243          6.192          0              0              0              52
  12  Pen             -2.712         0.694          1.793          0              0              0              63
  13  Pen             -2.934         0.694          1.052          0              0              0              49
  14  KeyChain        -2.318         0.604          4.654          0              0              0              50
  15  Book            -2.396         0.100          4.964          0              0              0              53
  16  CreditCard      -2.510         0.237          6.192          0              0              0              52
  17  CreditCard      -1.974         0.747          0.014          0              0              0              57
  18  RemoteControl   -2.253         0.750          -0.115         0              0              0              57
  19  Book            -2.241         0.347          4.809          0              0              0              51
  20  Box             -1.603         0.888          1.793          0              0              0              61
  21  Statue          -2.473         0.609          4.809          0              0              0              50
  22  Laptop          -4.334         0.449          5.875          0              59.999         0              47
  23  TissueBox       -2.934         0.690          1.670          0              0              0              49
  24  CreditCard      -4.207         0.432          5.654          0              59.999         0              47
  25  Plate           -2.712         0.689          1.299          0              0              0              62
  26  KeyChain        -0.333         0.616          3.292          0              180            0              46
  27  Vase            -2.114         0.752          -0.115         0              0              0              57
  28  Pencil          -2.164         0.101          5.120          0              0              0              53
  29  Pillow          -3.271         0.661          3.44           0              0              331.220        55
  30  Bowl            -2.490         0.688          1.052          0              0              0              62
  31  RemoteControl   -2.008         0.240          6.119          0              0              0              52
  32  Watch           -2.510         0.238          6.010          0              0              0              52
  33  Pen             -2.761         0.243          6.046          0              0              0              52
  34  Newspaper       -2.164         0.605          4.654          0              0              0              50
  35  Painting        -2.048         1.615          -0.303         0              0              0
  36  Curtains        -0.083         2.420          0.969          0              0              0
  37  Television      -2.357         1.205          6.245          0              180            0
  38  HousePlant      -2.933         0.595          -0.093         0              0              0
  39  GarbageCan      -4.864         -0.001         0.267          0              90             0
  40  FloorLamp       -0.566         0.002          0.024          0              316.932        0
  41  DeskLamp        -0.273         0.700          3.612          0              0              0
  42  Window          -0.057         0.925          1.764          90             270            0
  43  Window          -0.057         1.130          4.886          90             270            0
  44  LightSwitch     -3.305         1.340          -0.314         0              0              0
  45  SideTable       -0.255         0.001          3.369          0              270            0
  46  Drawer          -0.306         0.626          3.369          0              270            0
  47  ArmChair        -4.376         -8.374         6.016          0              152.639        0
  48  ArmChair        -0.847         -8.106         5.983          0              231.318        0
  49  DiningTable     -2.268         -0.016         1.422          0              0              0
  50  CoffeeTable     -2.326         0.002          4.922          0              0              0
  51  Shelf           -2.326         0.338          4.922          0              0              0
  52  Shelf           -2.385         0.238          6.296          0              0              0
  53  Shelf           -2.326         0.089          4.922          0              0              0
  54  TVStand         -2.385         0.006          6.296          0              0              0
  55  Sofa            -2.404         -0.003         3.417          0              0              0
  56  SideTable       -2.935         0.004          -0.103         0              0              0
  57  SideTable       -2.113         0.002          -0.139         0              0              0
  58  Drawer          -2.113         0.654          -0.069         0              0              0
  59  Chair           -1.862         0.020          1.035          0              0              0
  60  Chair           -3.122         0.020          1.410          0              104.999        0
  61  Chair           -1.864         0.020          1.838          0              185.032        0
  62  Chair           -2.507         0.020          0.991          0              6.189          0
  63  Chair           -2.519         0.020          1.882          0              164.977        0
  64  Chair           -1.335         0.020          1.430          0              270            0
  65  NorthWall
  66  EastWall
  67  SouthWall
  68  WestWall

Plan:
STEP 1: Walk past the couch and over to the dining table | STEP 2: Pick up the pen from the table | STEP 3: Walk around to the other side of the table | STEP 4: Put the pen on the white saucer | STEP 5: Pick up the white saucer from the table | STEP 6: Walk around the couch to the glass coffee table | STEP 7: Put the saucer down on the coffee table | END