Task: Attach a pen to a mug, put the two on the desk.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.25           0.900          -1.5           0              0              0
   1  Mug             1.114          0.677          -2.598         0              90             0              37
   2  CellPhone       -0.666         0.557          -2.103         0              0              0              23
   3  Pen             -1.144         0.685          -2.553         0              0              0              36
   4  Pencil          -0.431         0.623          0.833          0              180            0              35
   5  Pencil          -1.322         0.685          -2.553         0              0              0              36
   6  KeyChain        -0.276         0.621          0.755          0              180            0              35
   7  Book            -0.666         0.555          -1.211         0              0              0              23
   8  AlarmClock      -0.121         0.621          0.677          0              180            0              35
   9  Laptop          0.064          0.554          -1.434         0              0              0              23
  10  Box             2.453          0.222          -0.041         0              0              0
  11  Book            0.247          0.555          -0.988         0              0              0              23
  12  KeyChain        -0.741         0.620          1.066          0              270            0              35
  13  Pillow          -0.483         0.653          -1.434         0              0              0              23
  14  BaseballBat     0.419          0.666          1.044          10.360         0              0
  15  Pencil          -1.204         0.088          -2.399         0              0              0              39
  16  CellPhone       0.430          0.557          -1.434         0              0              0              23
  17  CreditCard      -0.121         0.618          1.066          0              180            0              35
  18  Pen             0.188          0.625          0.677          0              180            0              35
  19  Laptop          -0.661         0.613          0.778          0              165.000        0              35
  20  AlarmClock      -1.236         0.673          -2.425         0              29.999         0              37
  21  CD              -1.117         0.374          -2.423         0              0              0              41
  22  Mug             -1.026         0.677          -2.419         0              0              0              36
  23  Bed             -0.118         -0.001         -1.699         0              180            0
  24  Mirror          2.644          1.347          0.384          0              90             0
  25  GarbageCan      2.467          -0.029         0.936          0              271.107        0
  26  LightSwitch     0.333          1.256          1.149          0              180            0
  27  DeskLamp        0.915          0.670          -2.435         0              0              0
  28  Painting        0.003          1.562          -2.687         90             180            0
  29  Window          -1.559         1.414          -1.356         90             270            0
  30  Window          -1.559         1.414          -0.057         90             270            0
  31  Shelf           -0.276         0.351          0.832          0              0              0
  32  Shelf           -0.276         0.099          0.832          0              0              0
  33  Blinds          -1.462         2.157          -1.343         0              90             0
  34  Blinds          -1.462         2.157          -0.046         0              90             0
  35  Desk            -0.276         -0.001         0.833          0              0              0
  36  SideTable       -1.204         0.002          -2.456         0              0              0
  37  SideTable       0.948          0.002          -2.456         0              0              0
  38  Drawer          0.948          0.166          -2.389         0              0              0
  39  Drawer          -1.204         0.166          -2.389         0              0              0
  40  Drawer          0.948          0.458          -2.389         0              0              0
  41  Drawer          -1.204         0.458          -2.389         0              0              0
  42
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: Turn left and go along the right side of the bed towards the night stand. | STEP 2: Pick up the pen behind the clock next to the pencil from the night stand. | STEP 3: Attach the pen to the mug next to the clock. | STEP 4: Pick up the mug with the pen. | STEP 5: Turn around and go to the desk.  | STEP 6: Put the mug with pen on the desk in front of the computer. | END