Task: Put a mug with a pen in it on a small cabinet.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.909          -0.25          0              270            0
   1  CD              -0.862         0.799          -4.354         0              0              0              41
   2  CD              -3.760         0.980          -3.673         0              0              0              44
   3  Pen             -3.582         0.424          -3.885         0              0              0              47
   4  Pen             -3.539         0.986          -4.075         0              0              0              44
   5  Pen             -1.270         0.805          -3.703         0              0              0              41
   6  Pencil          -0.657         0.803          -4.354         0              0              0              41
   7  CreditCard      -3.760         0.979          -3.874         0              0              0              44
   8  KeyChain        -3.807         0.615          -2.999         0              180            0              45
   9  Book            -3.613         0.620          -1.793         0              0              0              26
  10  Book            -3.760         0.981          -4.276         0              0              0              44
  11  Laptop          -3.191         0.618          -0.931         0              0              0              26
  12  AlarmClock      -3.539         0.979          -4.276         0              0              0              44
  13  Book            -1.270         0.800          -4.246         0              0              0              41
  14  CellPhone       -3.539         0.981          -3.070         0              0              0              44
  15  Laptop          -2.981         0.618          -1.793         0              0              0              26
  16  CreditCard      -3.466         0.979          -3.673         0              0              0              44
  17  AlarmClock      -0.329         0.542          -3.713         0              0              0              41
  18  KeyChain        -0.596         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          -0.507         0.546          -3.768         0              0              0              35
  22  Pillow          -3.335         0.681          -0.415         0              0              0              26
  23  CD              -3.613         0.979          -3.673         0              0              0              44
  24  Pen             -0.329         0.548          -3.749         0              0              0              35
  25  Mug             -1.474         0.798          -4.137         0              0              0              41
  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 left and walk to the desk then turn right and walk to the dresser then turn left and walk to the wall then turn right to face the dresser. | STEP 2: Pick up the pen you see on top of the dresser. | STEP 3: Turn around and walk to the desk. | STEP 4: Put the pen in the mug that's left of the light. | STEP 5: Pick up the mug with the pen in it. | STEP 6: Turn left and walk to the bed then turn right and walk to the wall and turn right. | STEP 7: Look near the floor and you will see a small brown cabinet with three drawers please put the mug on top of it near it's right corner. | END