Task: Putting a black mug with a pen in it on a nightstand

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           0.901          2.0            0              0              0
   1  CD              2.656          0.179          0.166          0              180            0              37
   2  Pen             2.907          0.990          1.292          0              180            0              31
   3  KeyChain        2.732          0.986          0.723          0              180            0              31
   4  Book            -0.716         0.693          -0.332         0              0              0              23
   5  Pencil          -1.558         0.667          1.479          0              0              0              43
   6  Pencil          -1.603         0.667          -1.327         0              0              0              41
   7  Book            2.342          0.448          -0.903         0              119.999        0              44
   8  KeyChain        -1.514         0.664          -1.25          0              90             0              41
   9  Laptop          2.820          0.983          0.155          0              180            0              31
  10  Cloth           1.763          0.000          -1.732         0              70.590         0
  11  CreditCard      -1.648         0.662          -1.094         0              0              0              41
  12  Pen             2.995          0.993          0.723          0              180            0              31
  13  Pencil          2.644          0.992          0.439          0              180            0              31
  14  BaseballBat     3.076          0.629          -1.762         0              0              338.300
  15  AlarmClock      2.907          0.984          1.008          0              180            0              31
  16  BaseballBat     0.808          0.05           2.151          0              0              270
  17  Pillow          -0.448         0.779          0.559          0              0              0              23
  18  Pillow          -0.181         0.779          -0.332         0              0              0              23
  19  CellPhone       2.543          0.449          -0.688         0              119.999        0              44
  20  CD              2.555          0.886          1.834          0              180            0              32
  21  Mug             2.644          0.986          1.576          0              180            0              31
  22  Curtains        -0.020         2.923          -1.853         0              0              0
  23  Bed             -0.750         -0.018         0.113          1.247          270            0
  24  LightSwitch     1.317          1.297          2.197          0              180            0
  25  DeskLamp        -1.618         0.669          1.486          0              0              0
  26  DeskLamp        -1.631         0.669          -1.308         0              0              0
  27  Painting        1.524          1.516          -1.853         90             0              0
  28  GarbageCan      1.352          0.000          -1.685         0              0              0
  29  Mirror          0.575          1.351          2.197          0              0              0
  30  Window          -0.013         1.687          -1.919         90             0              0
  31  Dresser         2.819          0.000          1.008          0              270            0
  32  Drawer          2.572          0.901          1.784          0              270            0
  33  Cabinet         2.484          0.499          1.014          0              270            0
  34  Cabinet         2.484          0.499          0.999          0              270            0
  35  Drawer          2.572          0.901          1.263          0              270            0
  36  Drawer          2.572          0.901          0.748          0              270            0
  37  Cabinet         2.484          0.499          -0.019         0              270            0
  38  Drawer          2.572          0.901          0.230          0              270            0
  39  Cabinet         2.484          0.499          2.033          0              270            0
  40  Drawer          -1.533         0.459          1.478          0              90             0
  41  SideTable       -1.599         0.001          -1.249         0              90             0
  42  Drawer          -1.533         0.459          -1.250         0              90             0
  43  SideTable       -1.599         0.001          1.479          0              90             0
  44  ArmChair        2.574          0.002          -0.817         0              299.998        0
  45  Shelf           -1.552         0.040          -1.400         0              90             0
  46  Shelf           -1.552         0.040          -1.133         0              90             0
  47  Shelf           -1.552         0.040          1.328          0              90             0
  48  Shelf           -1.552         0.040          1.595          0              90             0
  49  NorthWall
  50  EastWall
  51  SouthWall
  52  WestWall

Plan:
STEP 1: Turn right and go to the drawer | STEP 2: Grab the pen off of the drawer  | STEP 3: Move slightly to the left | STEP 4: Put the pen in the black mug | STEP 5: Grab the mug off of the drawer | STEP 6: Turn around and go to the nightstand to the right of the bed | STEP 7: Put the mug on the right of the nightstand | END