Task: put a cup with a pen on it on the brown 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          0.901          0.25           0              180            0
   1  CellPhone       -1.901         0.508          -1.190         0              0              0              51
   2  CellPhone       -1.715         0.417          -1.488         0              0              0              48
   3  Pen             1.724          1.583          -2.235         0              0              0              33
   4  Pen             -1.648         0.604          -0.109         0              0              0              49
   5  Pen             1.257          0.361          -2.261         0              0              0              59
   6  Pencil          1.194          1.182          -2.235         0              0              0              30
   7  CreditCard      -1.828         0.508          -1.274         0              0              0              51
   8  CreditCard      0.191          0.730          -2.822         0              180            0              42
   9  KeyChain        0.651          0.731          -2.647         0              180            0              42
  10  AlarmClock      -1.582         0.599          -0.392         0              0              0              49
  11  Box             1.996          0.316          -1.042         0              254.839        0
  12  Book            -0.564         0.418          -1.610         0              0              0              48
  13  Pillow          -1.548         0.457          -1.831         0              90             0              48
  14  CellPhone       -1.515         0.599          -0.816         0              0              0              49
  15  Vase            -1.648         0.599          0.031          0              0              0              49
  16  BaseballBat     -1.629         0.649          0.416          14.491         0              0
  17  CreditCard      1.320          1.178          -2.256         0              0              0              30
  18  TennisRacket    2.244          0.279          -1.901         335.402        251.974        201.714
  19  KeyChain        -1.718         0.509          -1.148         0              0              0              51
  20  AlarmClock      0.076          0.729          -2.530         0              180            0              42
  21  Cloth           2.176          0.0            -0.571         0              335.474        0
  22  Laptop          -0.794         0.415          -1.977         0              0              0              48
  23  CD              0.076          0.730          -2.647         0              180            0              42
  24  CD              0.541          0.415          -2.521         0              0              0              44
  25  Pen             1.980          0.060          -2.282         0              0              0              60
  26  Pencil          -1.582         0.602          -0.250         0              0              0              49
  27  Mug             -1.780         0.597          -0.533         0              0              0              49
  28  Shelf           1.311          0.969          -2.298         0              0              0
  29  Shelf           1.843          0.969          -2.298         0              0              0
  30  Shelf           1.311          1.171          -2.298         0              0              0
  31  Shelf           1.843          1.171          -2.298         0              0              0
  32  Shelf           1.311          1.368          -2.298         0              0              0
  33  Shelf           1.843          1.570          -2.298         0              0              0
  34  Shelf           1.843          1.368          -2.298         0              0              0
  35  Shelf           1.311          1.570          -2.298         0              0              0
  36  DeskLamp        -1.848         0.592          -0.786         0              90             0
  37  GarbageCan      2.197          -0.007         0.298          0              232.025        0
  38  LightSwitch     -0.638         1.149          0.499          0              180            0
  39  Poster          0.001          1.495          -2.642         90             90             0
  40  Mirror          -1.072         1.469          0.497          0              0              0
  41  Window          0.435          1.398          -2.855         90             0              0
  42  SideTable       0.435          0.036          -2.647         0              0              0
  43  Drawer          0.433          0.203          -2.445         0              0              0
  44  Drawer          0.433          0.505          -2.445         0              0              0
  45  Dumbbell        -1.656         0.602          -0.534         0              90             0
  46  Blinds          0.449          2.164          -2.845         0              0              0
  47  GarbageBag      1.730          0.318          0.222          270            90             83.412
  48  Bed             -1.047         -0.000         -1.851         0              270            0
  49  Desk            -1.710         0.000          -0.374         0              90             0
  50  Drawer          -1.790         0.245          -1.144         0              90             0
  51  SideTable       -1.824         0.000          -1.144         0              90             0
  52  Drawer          -1.790         0.392          -1.144         0              90             0
  53  Drawer          -1.790         0.097          -1.144         0              90             0
  54  Chair           -1.453         0.005          -0.311         0              286.095        0
  55  Shelf           1.591          0.606          -2.305         0              0              0
  56  ShelvingUnit    1.588          0.004          -2.326         0              0              0
  57  Shelf           1.854          0.453          -2.298         0              0              0
  58  Shelf           1.321          0.155          -2.296         0              0              0
  59  Shelf           1.323          0.456          -2.300         0              0              0
  60  Shelf           1.852          0.152          -2.294         0              0              0
  61  NorthWall
  62  EastWall
  63  SouthWall
  64  WestWall

Plan:
STEP 1: turn and walk over to the desk next to the bed | STEP 2: grab a pen off of the desk | STEP 3: move a bit to the left and face the desk again | STEP 4: put the pen inside a white cup on the desk | STEP 5: pick up the white cup off of the desk | STEP 6: walk over to the brown cabinet | STEP 7: place the white cup on top of the brown cabinet | END