Task: Put the cup with the pen inside on the nightstand

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.899          -2.5           0              270            0
   1  Mug             3.086          0.789          -0.838         0              0              0              63
   2  Bowl            -2.979         1.141          -2.261         0              90             0              43
   3  Bowl            3.209          0.792          -1.121         0              0              0              63
   4  Watch           -1.523         0.338          0.371          0              0              0              65
   5  Watch           -1.523         0.614          0.300          0              180            0              67
   6  CellPhone       0.922          1.413          -1.668         0              270            0              48
   7  Pen             3.147          0.798          -1.403         0              0              0              63
   8  Pen             2.993          0.546          -0.495         0              270            0              61
   9  Pen             3.271          0.797          -1.403         0              0              0              63
  10  Pencil          -2.979         1.147          -2.866         0              90             0              49
  11  Book            -1.088         0.614          -0.317         0              0              0              36
  12  Book            -2.916         0.599          0.245          0              0              0              35
  13  Laptop          -0.479         0.614          -0.317         0              0              0              36
  14  Book            3.086          0.791          -2.250         0              0              0              63
  15  Laptop          -0.631         0.614          -0.879         0              0              0              36
  16  KeyChain        3.271          0.794          -0.838         0              0              0              63
  17  Cloth           0.970          -0.001         -2.404         0              0              0
  18  BaseballBat     -2.982         0.015          -2.698         270            350.597        0
  19  BasketBall      -2.718         0.118          -1.925         0              0              0
  20  Pillow          -0.784         0.693          -1.442         0              0              0              36
  21  Pillow          -2.155         0.678          -0.598         0              0              0              35
  22  TennisRacket    -3.018         0.301          -2.199         19.103         272.232        184.978
  23  Pencil          0.954          1.147          -2.025         0              270            0              40
  24  CreditCard      -1.369         0.337          0.350          0              0              0              65
  25  Cloth           0.911          0.025          -2.702         0              0              0
  26  TeddyBear       -2.645         0.624          -0.402         0              286.876        0              35
  27  Pen             3.024          0.797          -1.686         0              0              0              63
  28  Cloth           0.705          -0.001         -2.75          0              270            0
  29  AlarmClock      0.891          1.414          -2.653         0              270            0              50
  30  Watch           -1.453         0.614          0.300          0              180            0              67
  31  CellPhone       3.209          0.791          -1.686         0              0              0              63
  32  CD              -2.948         1.413          -2.261         0              90             0              43
  33  Mug             3.271          0.790          -2.250         0              90             0              63
  34  Bowl            0.954          1.413          -2.025         0              270            0              42
  35  Bed             -2.455         -0.000         -0.572         0              0              0
  36  Bed             -0.634         -0.000         -0.567         0              0              0
  37  Chair           2.828          -0.002         -0.004         0              245.795        0
  38  Chair           2.727          -0.002         -1.210         0              95.225         0
  39  GarbageCan      1.707          -0.003         -2.785         0              59.967         0
  40  Shelf           0.922          1.133          -2.163         0              270            0
  41  Shelf           -2.948         1.405          -1.621         0              90             0
  42  Shelf           0.922          1.405          -2.163         0              270            0
  43  Shelf           -2.948         1.133          -2.188         0              90             0
  44  Shelf           -2.948         1.405          -2.188         0              90             0
  45  Shelf           0.922          1.133          -2.729         0              270            0
  46  Shelf           0.922          1.133          -1.616         0              270            0
  47  Shelf           -2.948         1.405          -2.735         0              90             0
  48  Shelf           0.922          1.405          -1.616         0              270            0
  49  Shelf           -2.948         1.133          -2.735         0              90             0
  50  Shelf           0.922          1.405          -2.729         0              270            0
  51  Shelf           -2.948         1.133          -1.621         0              90             0
  52  LightSwitch     -0.142         1.328          0.600          0              180            0
  53  Poster          3.400          1.863          -1.976         90             90             0
  54  Poster          3.400          1.702          -0.792         90             90             0
  55  DeskLamp        3.126          0.789          -0.638         0              3.649          0
  56  Mirror          0.453          1.491          0.616          0              0              0
  57  Window          2.278          0.925          -3.184         90             0              0
  58  Window          -1.019         0.925          -3.184         90             0              0
  59  Blinds          -1.003         2.072          -3.177         0              0              0
  60  Blinds          2.292          2.072          -3.177         0              0              0
  61  Shelf           3.124          0.633          -0.564         0              270            0
  62  Shelf           3.124          0.633          -2.267         0              270            0
  63  Desk            3.141          -0.000         -1.414         0              270            0
  64  Desktop         3.101          0.792          -1.236         358.565        270            0
  65  Drawer          -1.523         0.408          0.346          0              180            0
  66  Drawer          -1.523         0.141          0.346          0              180            0
  67  SideTable       -1.522         -0.001         0.411          0              180            0
  68  NorthWall
  69  EastWall
  70  SouthWall
  71  WestWall

Plan:
STEP 1: Turn right and go to the door then turn right and go to the desk | STEP 2: Pick up the pen from the shelf in the desk | STEP 3: Put the pen in the cup on the desk | STEP 4: Pick up the cup with the pen inside from the desk | STEP 5: Turn around and head towards the bed with the laptops on it and go left and around the bed then go to the nightstand | STEP 6: Put the cup on the nightstand | END