Task: Put a cup with a pen in it on the dresser at the foot of the bed.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.909          -2.25          0              270            0
   1  CD              -0.249         0.803          -4.137         0              0              0              36
   2  CD              -0.685         0.542          -3.713         0              0              0              30
   3  CellPhone       -3.693         0.045          -3.883         0              0              0              44
   4  CreditCard      -3.524         0.045          -4.164         0              0              0              44
   5  KeyChain        -0.249         0.800          -4.029         0              0              0              36
   6  Book            -3.834         0.980          -3.472         0              0              0              39
   7  Pillow          -3.402         0.722          -1.506         0              0              0              21
   8  Book            -1.474         0.804          -3.920         0              0              0              36
   9  CellPhone       -3.834         0.979          -4.276         0              0              0              39
  10  Laptop          -2.770         0.618          -1.218         0              0              0              21
  11  CreditCard      -0.657         0.800          -4.354         0              0              0              36
  12  AlarmClock      -3.834         0.979          -4.075         0              0              0              39
  13  KeyChain        -0.329         0.543          -3.749         0              0              0              30
  14  TeddyBear       -2.567         0.575          -0.386         357.948        14.682         7.781          21
  15  BaseballBat     -1.155         0.033          -3.997         90             59.999         0              Floor|-01.88|
  16  Pencil          -1.270         0.803          -4.137         0              0              0              36
  17  Pillow          -3.335         0.681          -0.415         0              0              0              21
  18  CD              -3.613         0.979          -3.673         0              0              0              39
  19  Pen             -0.453         0.805          -4.354         0              0              0              36
  20  Mug             -0.862         0.801          -4.246         0              0              0              36
  21  Bed             -2.980         0.009          -1.177         0              0              0
  22  LightSwitch     -1.620         1.351          0.0            0              180            0
  23  DeskLamp        -1.529         0.790          -4.298         0              0              0
  24  Mirror          -0.002         1.251          -2.592         0              90             0
  25  GarbageCan      -1.843         -0.017         -3.897         0              279.992        0
  26  Window          0.209          1.180          -1.504         90             270            0
  27  Drawer          -0.503         0.067          -4.188         0              180            0
  28  Drawer          -0.502         0.226          -3.799         0              0              0
  29  Drawer          -0.502         0.385          -3.799         0              0              0
  30  CoffeeTable     -0.503         0.009          -3.990         0              0              0
  31  Drawer          -0.502         0.067          -3.799         0              0              0
  32  Blinds          0.163          2.196          -1.495         0              270            0
  33  TableTopDecor   -3.586         0.996          -3.055         0              180            0
  34  Drawer          -0.503         0.385          -4.188         0              180            0
  35  Drawer          -0.503         0.226          -4.188         0              180            0
  36  Desk            -0.862         0.006          -4.028         0              0              0
  37  Drawer          -3.609         0.876          -4.055         0              90             0
  38  Drawer          -3.608         0.112          -3.261         0              90             0
  39  Dresser         -3.653         0.008          -3.658         0              90             0
  40  Drawer          -3.609         0.688          -3.261         0              90             0
  41  Drawer          -3.609         0.300          -3.261         0              90             0
  42  Drawer          -3.609         0.494          -4.055         0              90             0
  43  Drawer          -3.609         0.300          -4.055         0              90             0
  44  Drawer          -3.608         0.112          -4.055         0              90             0
  45  Drawer          -3.609         0.688          -4.055         0              90             0
  46  Drawer          -3.609         0.876          -3.261         0              90             0
  47  Drawer          -3.609         0.494          -3.261         0              90             0
  48  NorthWall
  49  EastWall
  50  SouthWall
  51  WestWall

Plan:
STEP 1: Move to the table to the left of the dresser | STEP 2: Pick up a pen from the desk | STEP 3: Move to a few steps to the right | STEP 4: Place the pen in a cup on the table | STEP 5: Pick up the cup from the table | STEP 6: Move to the dresser to the right of you | STEP 7: Place the cup on the dresser | END