Task: drop a pen in a mug on a closet table

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            0.910          4.0            0              180            0
   1  CD              2.367          0.806          3.715          0              0              0              37
   2  CD              -0.590         0.049          3.763          0              0              0              32
   3  CreditCard      2.397          0.744          -1.731         0              0              0              34
   4  KeyChain        2.275          0.400          -0.768         0              270            0              41
   5  KeyChain        2.367          0.808          2.613          0              0              0              37
   6  AlarmClock      2.609          0.851          0.230          0              0              0              38
   7  Pillow          -1.217         0.470          -1.140         0              90             0              35
   8  Laptop          2.680          0.805          2.833          0              0              0              37
   9  Book            2.680          0.807          2.392          0              0              0              37
  10  AlarmClock      2.471          0.753          -1.619         0              90             0              46
  11  CellPhone       2.544          0.399          -0.333         0              270            0              41
  12  Bowl            -0.815         0.915          4.900          0              0              0              26
  13  CreditCard      2.693          0.744          -1.300         0              0              0              46
  14  KeyChain        2.850          0.843          1.017          0              0              0              38
  15  RemoteControl   2.618          0.462          0.819          0              0              0              40
  16  Laptop          -0.355         0.712          1.690          0              0              0              23
  17  Pencil          2.533          0.464          0.330          0              0              0              40
  18  Pillow          2.275          0.470          -0.507         0              270            0              41
  19  Pillow          0.123          0.785          2.256          0              0              0              23
  20  CD              2.770          0.842          0.230          0              0              0              38
  21  Pen             2.770          0.848          0.624          0              0              0              38
  22  Mug             2.529          0.841          0.886          0              0              0              38
  23  Bed             -0.594         0.009          2.298          0              0              0
  24  Mirror          -1.184         1.603          4.348          0              0              0
  25  Television      2.738          1.330          0.622          0              270            0
  26  CounterTop      -0.890         0.951          4.349          0              0              0
  27  LightSwitch     0.800          1.371          5.245          0              90             0
  28  Painting        2.992          1.529          3.415          90             270            0
  29  Painting        2.992          1.529          2.553          90             270            0
  30  DeskLamp        2.625          0.772          -1.469         0              0              0
  31  DeskLamp        2.668          0.810          3.082          0              358.947        0
  32  GarbageCan      -0.626         -0.009         3.742          0              0              0
  33  Window          -0.453         1.450          -2.058         90             180            0
  34  SideTable       2.565          0.009          -1.534         0              0              0
  35  ArmChair        -1.277         0.009          -1.169         0              90             0
  36  Blinds          -0.5           2.174          -1.957         0              0              0
  37  Desk            2.572          0.011          3.054          0              270            0
  38  SideTable       2.645          0.009          0.624          0              270            0
  39  Drawer          2.525          0.214          0.624          0              270            0
  40  Drawer          2.525          0.578          0.624          0              270            0
  41  ArmChair        2.424          0.009          -0.564         0              270            0
  42  LaundryHamper   3.457          0.009          4.555          0              270            0
  43  Chair           2.591          0.020          2.015          0              0              0
  44  Chair           2.184          0.020          3.440          0              120.016        0
  45  Chair           2.211          0.020          2.592          0              74.981         0
  46
  47  NorthWall
  48  EastWall
  49  SouthWall
  50  WestWall

Plan:
STEP 1: move forward to the tv stand | STEP 2: pick up a pen from the stand | STEP 3: move to the mug on the stand | STEP 4: place a pen in the mug | STEP 5: pick up the mug | STEP 6: turn around and head to the closet table | STEP 7: drop the pen on the closet table | END