Task: Move the cup with the pen from the dress to 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           -1.25          0.909          -1.0           0              180            0
   1  Mug             -3.760         0.977          -3.673         0              0              0              41
   2  CD              -3.613         0.980          -3.271         0              0              0              41
   3  CD              -3.908         0.980          -3.874         0              0              0              41
   4  CellPhone       -3.760         0.979          -3.271         0              0              0              41
   5  Pencil          -0.862         0.803          -3.920         0              0              0              38
   6  KeyChain        -3.466         0.980          -3.874         0              0              0              41
   7  KeyChain        -3.637         0.810          -3.184         0              0              0              48
   8  Book            -2.348         0.620          -0.931         0              0              0              23
   9  AlarmClock      -0.685         0.542          -3.713         0              0              0              38
  10  Book            -2.559         0.620          -2.080         0              0              0              23
  11  CellPhone       -3.834         0.981          -4.075         0              0              0              41
  12  Laptop          -1.169         0.796          -4.096         0              27.912         0              38
  13  CreditCard      -3.806         0.808          -4.164         0              0              0              39
  14  AlarmClock      -0.329         0.542          -3.713         0              0              0              38
  15  KeyChain        -3.687         0.982          -3.874         0              0              0              41
  16  TeddyBear       -2.567         0.575          -0.386         357.948        14.682         7.781          23
  17  BaseballBat     -1.155         0.033          -3.997         90             59.999         0              Floor|-01.88|
  18  Pencil          -1.850         0.065          -3.901         0              279.990        0              27
  19  Pillow          -3.191         0.722          -2.080         0              0              0              23
  20  CD              -3.466         0.980          -3.070         0              0              0              41
  21  Pen             -3.834         0.985          -3.070         0              0              0              41
  22  Mug             -3.760         0.979          -3.070         0              0              0              41
  23  Bed             -2.980         0.009          -1.177         0              0              0
  24  LightSwitch     -1.620         1.351          0.0            0              180            0
  25  DeskLamp        -1.529         0.790          -4.298         0              0              0
  26  Mirror          -0.002         1.251          -2.592         0              90             0
  27  GarbageCan      -1.843         -0.017         -3.897         0              279.992        0
  28  Window          0.209          1.180          -1.504         90             270            0
  29  Drawer          -0.503         0.067          -4.188         0              180            0
  30  Drawer          -0.502         0.226          -3.799         0              0              0
  31  Drawer          -0.502         0.385          -3.799         0              0              0
  32  CoffeeTable     -0.503         0.009          -3.990         0              0              0
  33  Drawer          -0.502         0.067          -3.799         0              0              0
  34  Blinds          0.163          2.196          -1.495         0              270            0
  35  TableTopDecor   -3.586         0.996          -3.055         0              180            0
  36  Drawer          -0.503         0.385          -4.188         0              180            0
  37  Drawer          -0.503         0.226          -4.188         0              180            0
  38  Desk            -0.862         0.006          -4.028         0              0              0
  39  Drawer          -3.609         0.876          -4.055         0              90             0
  40  Drawer          -3.608         0.112          -3.261         0              90             0
  41  Dresser         -3.653         0.008          -3.658         0              90             0
  42  Drawer          -3.609         0.688          -3.261         0              90             0
  43  Drawer          -3.609         0.300          -3.261         0              90             0
  44  Drawer          -3.609         0.494          -4.055         0              90             0
  45  Drawer          -3.609         0.300          -4.055         0              90             0
  46  Drawer          -3.608         0.112          -4.055         0              90             0
  47  Drawer          -3.609         0.688          -4.055         0              90             0
  48  Drawer          -3.609         0.876          -3.261         0              90             0
  49  Drawer          -3.609         0.494          -3.261         0              90             0
  50  NorthWall
  51  EastWall
  52  SouthWall
  53  WestWall

Plan:
STEP 1: Walk straight, turn right, walk to the dresser | STEP 2: Grab the cup with the pen | STEP 3: Turn around, walk to the white table | STEP 4: Put the cup and the pen below the table, on the brown drawers | END