Task: Placing a mug with a pen on a nightstand

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.0            0.900          -1.75          0              0              0
   1  Pen             0.033          0.625          0.832          0              180            0              34
   2  Pen             -0.121         0.624          0.832          0              180            0              34
   3  Pencil          0.188          0.623          0.677          0              180            0              34
   4  Pencil          1.114          0.685          -2.329         0              0              0              36
   5  CreditCard      0.033          0.620          0.677          0              180            0              34
   6  CreditCard      -1.160         0.082          -2.399         0              0              0              38
   7  Book            -0.300         0.555          -1.211         0              0              0              22
   8  Book            0.430          0.555          -1.434         0              0              0              22
   9  Box             2.453          0.222          -0.041         0              0              0
  10  Book            -0.483         0.555          -1.434         0              0              0              22
  11  KeyChain        -1.322         0.677          -2.508         0              0              0              35
  12  Pillow          -0.483         0.653          -1.880         0              0              0              22
  13  BaseballBat     0.419          0.666          1.044          10.360         0              0
  14  Pencil          -1.160         0.380          -2.399         0              0              0              40
  15  CellPhone       -0.276         0.619          0.988          0              180            0              34
  16  CreditCard      1.055          0.679          -2.553         0              0              0              36
  17  Pen             -0.276         0.624          0.599          0              180            0              34
  18  Laptop          -0.661         0.613          0.778          0              165.000        0              34
  19  AlarmClock      -1.236         0.673          -2.425         0              29.999         0              36
  20  CD              -0.276         0.619          0.677          0              180            0              34
  21  Mug             -0.121         0.618          0.988          0              180            0              34
  22  Bed             -0.118         -0.001         -1.699         0              180            0
  23  Mirror          2.644          1.347          0.384          0              90             0
  24  GarbageCan      2.467          -0.029         0.936          0              271.107        0
  25  LightSwitch     0.333          1.256          1.149          0              180            0
  26  DeskLamp        0.915          0.670          -2.435         0              0              0
  27  Painting        0.003          1.562          -2.687         90             180            0
  28  Window          -1.559         1.414          -1.356         90             270            0
  29  Window          -1.559         1.414          -0.057         90             270            0
  30  Shelf           -0.276         0.351          0.832          0              0              0
  31  Shelf           -0.276         0.099          0.832          0              0              0
  32  Blinds          -1.462         2.157          -1.343         0              90             0
  33  Blinds          -1.462         2.157          -0.046         0              90             0
  34  Desk            -0.276         -0.001         0.833          0              0              0
  35  SideTable       -1.204         0.002          -2.456         0              0              0
  36  SideTable       0.948          0.002          -2.456         0              0              0
  37  Drawer          0.948          0.166          -2.389         0              0              0
  38  Drawer          -1.204         0.166          -2.389         0              0              0
  39  Drawer          0.948          0.458          -2.389         0              0              0
  40  Drawer          -1.204         0.458          -2.389         0              0              0
  41
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: Go forward before turning left between the desk and bed and turning right towards the desk | STEP 2: Pick up the pen to the right and above the pencil on the desk | STEP 3: Place the pen in the mug that is to the right of the phone | STEP 4: Pick up the mug with the pen inside it | STEP 5: Turn around and go between the bed to the left and the wall to the right towards a small nightstand  | STEP 6: Place the mug with the pen on the side table to the right of the bed and to the left of the clock | END