Task: Put the mug with pen on the cabinet

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.900          1.75           0              90             0
   1  CD              1.329          0.370          -1.929         0              0              0              28
   2  Pen             -1.394         0.702          -1.610         0              0              0              49
   3  Pen             -1.611         1.527          -2.004         0              270            0              38
   4  Pen             0.466          0.582          -2.537         0              0              0              44
   5  Pencil          1.192          1.416          -0.238         0              270            0              37
   6  KeyChain        0.623          0.578          -2.318         0              0              0              44
   7  CreditCard      -1.394         0.699          -2.046         0              0              0              49
   8  AlarmClock      -1.332         0.693          -2.481         0              0              0              49
   9  Pillow          -1.323         0.713          0.057          0              0              0              26
  10  Book            -1.443         0.610          -0.504         0              0              0              26
  11  KeyChain        1.226          0.912          -0.682         0              270            0              35
  12  BaseballBat     1.436          0.636          1.985          21.882         0              0
  13  BasketBall      1.270          0.12           -1.290         0              345.557        0
  14  Pencil          -1.394         0.701          -1.900         0              0              0              49
  15  CellPhone       1.220          0.505          -1.764         0              270            0              27
  16  CreditCard      0.780          0.576          -2.482         0              0              0              44
  17  Laptop          0.076          0.569          -2.456         0              0              0              44
  18  Pillow          -1.170         0.684          -0.990         0              0              0              26
  19  Boots           1.288          0.000          -0.961         0              177.912        0
  20  Pen             1.293          1.416          -0.382         0              270            0              37
  21  AlarmClock      -1.332         0.696          -1.755         0              0              0              49
  22  CD              1.260          0.382          -0.097         0              270            0              36
  23  Bowl            1.259          1.410          -0.671         0              270            0              37
  24  Drawer          0.980          0.271          -1.963         0              0              0
  25  Drawer          0.980          0.139          -1.963         0              0              0
  26  Bed             -1.209         0.016          -0.266         0              180            1.624
  27  Shelf           1.220          0.859          -1.802         0              270            0
  28  Drawer          0.980          0.404          -1.963         0              0              0
  29  Drawer          0.980          0.272          -1.639         0              0              0
  30  Mirror          0.740          1.491          2.099          0              0              0
  31  Drawer          0.980          0.139          -1.639         0              0              0
  32  Drawer          0.980          0.404          -1.639         0              0              0
  33  Chair           0.280          -0.001         -2.264         0              180            0
  34  GarbageCan      -1.542         0.013          1.919          2.249          116.925        355.175
  35  Shelf           1.259          0.903          -0.269         0              270            0
  36  Shelf           1.259          0.375          -0.263         0              270            0
  37  Shelf           1.259          1.402          -0.259         0              270            0
  38  Shelf           -1.577         1.513          -2.025         0              270            0
  39  LightSwitch     -0.755         1.176          2.099          0              180            0
  40  DeskLamp        -1.489         0.669          -2.419         0              0              0
  41  Window          0.243          0.963          -2.678         90             0              0
  42  Window          -0.361         0.963          -2.679         90             0              0
  43  Window          -0.962         0.963          -2.678         90             0              0
  44  Desk            0.445          0.001          -2.430         0              0              0
  45  Blinds          -0.349         2.186          -2.685         0              0              0
  46  Blinds          0.250          2.186          -2.685         0              0              0
  47  Blinds          -0.952         2.186          -2.685         0              0              0
  48  Drawer          -1.314         0.163          -2.051         0              90             0
  49  SideTable       -1.444         -0.001         -2.051         0              90             0
  50  Drawer          -1.314         0.455          -2.051         0              90             0
  51  NorthWall
  52  EastWall
  53  SouthWall
  54  WestWall

Plan:
STEP 1: Turn right and walk forward turn right on the end of the bed facing the upper shelf | STEP 2: Pick up the pen on the shelf | STEP 3: Turn right then head to the shelf on your right | STEP 4: Put the pen in the cup  | STEP 5: Pick up the cup with pen on the shelf | STEP 6: Turn right then head to the end of the bed facing the cabinet | STEP 7: Put the mug with pen on the cabinet | END