Task: Put the pen in the cup on the table, put them on the brown cabinet under the table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.909          -2.25          0              90             0
   1  Mug             -1.066         0.798          -3.811         0              0              0              41
   2  Mug             -1.474         0.798          -3.920         0              0              0              41
   3  CD              -0.453         0.803          -4.029         0              0              0              41
   4  CD              -0.453         0.803          -4.137         0              0              0              41
   5  Pen             -3.613         0.985          -3.070         0              0              0              44
   6  CreditCard      -0.774         0.542          -3.749         0              0              0              35
   7  CreditCard      -1.474         0.803          -4.029         0              0              0              41
   8  KeyChain        -3.526         0.615          -3.184         0              0              0              45
   9  KeyChain        -0.274         0.349          -3.811         0              0              0              35
  10  Book            -3.613         0.620          -0.643         0              0              0              26
  11  Book            -0.426         0.189          -3.811         0              0              0              33
  12  AlarmClock      -0.596         0.542          -3.713         0              0              0              41
  13  Book            -3.402         0.620          -0.643         0              0              0              26
  14  CellPhone       -2.348         0.620          -1.506         0              0              0              26
  15  Laptop          -3.191         0.618          -1.218         0              0              0              26
  16  CreditCard      -3.539         0.979          -4.276         0              0              0              44
  17  AlarmClock      -0.657         0.800          -3.811         0              0              0              41
  18  KeyChain        -0.329         0.543          -3.749         0              0              0              35
  19  TeddyBear       -2.567         0.575          -0.386         357.948        14.682         7.781          26
  20  BaseballBat     -1.155         0.033          -3.997         90             59.999         0              Floor|-01.88|
  21  Pencil          -3.908         0.983          -3.874         0              0              0              44
  22  Pillow          -2.981         0.722          -1.793         0              0              0              26
  23  CD              -1.827         0.062          -3.905         0              279.990        0              30
  24  Pen             -0.453         0.809          -3.811         0              0              0              41
  25  Mug             -3.834         0.979          -3.673         0              0              0              44
  26  Bed             -2.980         0.009          -1.177         0              0              0
  27  LightSwitch     -1.620         1.351          0.0            0              180            0
  28  DeskLamp        -1.529         0.790          -4.298         0              0              0
  29  Mirror          -0.002         1.251          -2.592         0              90             0
  30  GarbageCan      -1.843         -0.017         -3.897         0              279.992        0
  31  Window          0.209          1.180          -1.504         90             270            0
  32  Drawer          -0.503         0.067          -4.188         0              180            0
  33  Drawer          -0.502         0.226          -3.799         0              0              0
  34  Drawer          -0.502         0.385          -3.799         0              0              0
  35  CoffeeTable     -0.503         0.009          -3.990         0              0              0
  36  Drawer          -0.502         0.067          -3.799         0              0              0
  37  Blinds          0.163          2.196          -1.495         0              270            0
  38  TableTopDecor   -3.586         0.996          -3.055         0              180            0
  39  Drawer          -0.503         0.385          -4.188         0              180            0
  40  Drawer          -0.503         0.226          -4.188         0              180            0
  41  Desk            -0.862         0.006          -4.028         0              0              0
  42  Drawer          -3.609         0.876          -4.055         0              90             0
  43  Drawer          -3.608         0.112          -3.261         0              90             0
  44  Dresser         -3.653         0.008          -3.658         0              90             0
  45  Drawer          -3.609         0.688          -3.261         0              90             0
  46  Drawer          -3.609         0.300          -3.261         0              90             0
  47  Drawer          -3.609         0.494          -4.055         0              90             0
  48  Drawer          -3.609         0.300          -4.055         0              90             0
  49  Drawer          -3.608         0.112          -4.055         0              90             0
  50  Drawer          -3.609         0.688          -4.055         0              90             0
  51  Drawer          -3.609         0.876          -3.261         0              90             0
  52  Drawer          -3.609         0.494          -3.261         0              90             0
  53  NorthWall
  54  EastWall
  55  SouthWall
  56  WestWall

Plan:
STEP 1: Turn right, walk to the white table | STEP 2: Grab the pen from the table | STEP 3: Walk to the right a little | STEP 4: Put the pen in the cup in the middle of the table | STEP 5: Take the cup with pen | STEP 6: Turn around, and turn around | STEP 7: Put the cup with pen under the white table on the brown cabinet | END