Task: grab the pen from the cabinet, put it in the cup on the table, put the cup on the cabinet

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -2.75          0.909          -3.75          0              90             0
   1  CellPhone       -0.657         0.803          -4.354         0              0              0              43
   2  Pen             -3.834         0.986          -3.874         0              0              0              46
   3  Pen             -0.329         0.548          -3.657         0              0              0              37
   4  Pen             -3.760         0.986          -3.472         0              0              0              46
   5  Pencil          -1.066         0.803          -4.137         0              0              0              43
   6  Pencil          -3.750         0.812          -3.184         0              0              0              53
   7  CreditCard      -0.240         0.542          -3.676         0              0              0              37
   8  CreditCard      -0.655         0.188          -3.844         0              0              0              38
   9  KeyChain        -0.418         0.543          -3.749         0              0              0              37
  10  Book            -0.862         0.804          -4.137         0              0              0              43
  11  Pillow          -2.559         0.722          -0.931         0              0              0              28
  12  Laptop          -3.402         0.618          -2.080         0              0              0              28
  13  AlarmClock      -3.760         0.981          -4.276         0              0              0              46
  14  AlarmClock      -0.596         0.542          -3.713         0              0              0              43
  15  Book            -1.270         0.800          -4.029         0              0              0              43
  16  CellPhone       -1.066         0.803          -4.354         0              0              0              43
  17  Laptop          -3.687         0.979          -3.070         0              0              0              46
  18  CreditCard      -0.657         0.800          -3.811         0              0              0              43
  19  AlarmClock      -3.834         0.981          -3.673         0              0              0              46
  20  KeyChain        -3.760         0.980          -3.271         0              270            0              46
  21  TeddyBear       -2.567         0.575          -0.386         357.948        14.682         7.781          28
  22  BaseballBat     -1.155         0.033          -3.997         90             59.999         0              Floor|-01.88|
  23  Pencil          -3.751         0.617          -3.978         0              0              0              52
  24  Pillow          -3.335         0.681          -0.415         0              0              0              28
  25  CD              -3.582         0.226          -4.070         0              0              0              50
  26  Pen             -0.596         0.548          -3.676         0              0              0              37
  27  Mug             -1.066         0.798          -3.920         0              0              0              43
  28  Bed             -2.980         0.009          -1.177         0              0              0
  29  LightSwitch     -1.620         1.351          0.0            0              180            0
  30  DeskLamp        -1.529         0.790          -4.298         0              0              0
  31  Mirror          -0.002         1.251          -2.592         0              90             0
  32  GarbageCan      -1.843         -0.017         -3.897         0              279.992        0
  33  Window          0.209          1.180          -1.504         90             270            0
  34  Drawer          -0.503         0.067          -4.188         0              180            0
  35  Drawer          -0.502         0.226          -3.799         0              0              0
  36  Drawer          -0.502         0.385          -3.799         0              0              0
  37  CoffeeTable     -0.503         0.009          -3.990         0              0              0
  38  Drawer          -0.502         0.067          -3.799         0              0              0
  39  Blinds          0.163          2.196          -1.495         0              270            0
  40  TableTopDecor   -3.586         0.996          -3.055         0              180            0
  41  Drawer          -0.503         0.385          -4.188         0              180            0
  42  Drawer          -0.503         0.226          -4.188         0              180            0
  43  Desk            -0.862         0.006          -4.028         0              0              0
  44  Drawer          -3.609         0.876          -4.055         0              90             0
  45  Drawer          -3.608         0.112          -3.261         0              90             0
  46  Dresser         -3.653         0.008          -3.658         0              90             0
  47  Drawer          -3.609         0.688          -3.261         0              90             0
  48  Drawer          -3.609         0.300          -3.261         0              90             0
  49  Drawer          -3.609         0.494          -4.055         0              90             0
  50  Drawer          -3.609         0.300          -4.055         0              90             0
  51  Drawer          -3.608         0.112          -4.055         0              90             0
  52  Drawer          -3.609         0.688          -4.055         0              90             0
  53  Drawer          -3.609         0.876          -3.261         0              90             0
  54  Drawer          -3.609         0.494          -3.261         0              90             0
  55  NorthWall
  56  EastWall
  57  SouthWall
  58  WestWall

Plan:
STEP 1: turn around to the cabinet | STEP 2: grab the pen on the cabinet | STEP 3: turn around to the table | STEP 4: put the pen in the cup on the table | STEP 5: grab the cup with the pencil | STEP 6: turn right, walk to the cabinet | STEP 7: put the cup on the cabinet | END