Task: Move a pen in a mug to the night stand

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.25           0.900          -2.0           0              0              0
   1  CD              -0.431         0.619          0.599          0              180            0              33
   2  Pen             1.114          0.685          -2.419         0              0              0              35
   3  CreditCard      0.996          0.679          -2.598         0              0              0              35
   4  KeyChain        -0.121         0.620          1.066          0              270            0              33
   5  KeyChain        -1.117         0.376          -2.423         0              90             0              39
   6  Pillow          -0.117         0.653          -1.657         0              0              0              21
   7  Laptop          0.247          0.554          -0.988         0              0              0              21
   8  Box             2.453          0.222          -0.041         0              0              0
   9  Book            0.106          0.613          0.717          0              163.530        0              33
  10  KeyChain        -0.121         0.620          0.599          0              180            0              33
  11  Pillow          0.192          0.607          -2.307         0              0              0              21
  12  BaseballBat     0.419          0.666          1.044          10.360         0              0
  13  Pencil          0.033          0.623          0.910          0              180            0              33
  14  CellPhone       0.064          0.557          -1.211         0              0              0              21
  15  CreditCard      -1.381         0.675          -2.464         0              0              0              34
  16  Pen             -1.144         0.678          -2.419         0              0              0              34
  17  Laptop          -0.661         0.613          0.778          0              165.000        0              33
  18  AlarmClock      -1.237         0.673          -2.428         0              29.848         0              35
  19  CD              -1.247         0.082          -2.375         0              0              0              37
  20  Mug             -0.276         0.618          0.988          0              180            0              33
  21  Bed             -0.118         -0.001         -1.699         0              180            0
  22  Mirror          2.644          1.347          0.384          0              90             0
  23  GarbageCan      2.467          -0.029         0.936          0              271.107        0
  24  LightSwitch     0.333          1.256          1.149          0              180            0
  25  DeskLamp        0.915          0.670          -2.435         0              0              0
  26  Painting        0.003          1.562          -2.687         90             180            0
  27  Window          -1.559         1.414          -1.356         90             270            0
  28  Window          -1.559         1.414          -0.057         90             270            0
  29  Shelf           -0.276         0.351          0.832          0              0              0
  30  Shelf           -0.276         0.099          0.832          0              0              0
  31  Blinds          -1.462         2.157          -1.343         0              90             0
  32  Blinds          -1.462         2.157          -0.046         0              90             0
  33  Desk            -0.276         -0.001         0.833          0              0              0
  34  SideTable       -1.204         0.002          -2.456         0              0              0
  35  SideTable       0.948          0.002          -2.456         0              0              0
  36  Drawer          0.948          0.166          -2.389         0              0              0
  37  Drawer          -1.204         0.166          -2.389         0              0              0
  38  Drawer          0.948          0.458          -2.389         0              0              0
  39  Drawer          -1.204         0.458          -2.389         0              0              0
  40
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: Move to the corner of the room to the right o the bed where the night stand is | STEP 2: Pick up the pen behind the clock on the night stand | STEP 3: Carry the pen to the back of the room where the white and grey table is  | STEP 4: Place the pen inside of the black coffee mug on the table | STEP 5: Pick up the black coffee mug with the pen in it on top of the table | STEP 6: Carry the black mug with the pen in it to the night stand | STEP 7: Place the mug with the pen on top of the night stand behind the pencil | END