Task: Put the mug with pen on top of 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          0.75           0              180            0
   1  Mug             1.651          0.793          -1.282         0              0              0              55
   2  Bowl            2.215          0.795          -1.217         0              0              0              55
   3  Watch           -1.387         1.233          -0.840         0              0              0              50
   4  Watch           -1.322         0.676          -0.954         0              0              0              47
   5  CellPhone       -0.806         0.566          0.358          0              0              0              31
   6  CellPhone       -0.117         0.566          0.602          0              0              0              31
   7  Pen             -1.294         0.681          -0.614         0              0              0              49
   8  Pen             2.604          1.284          -1.372         0              0              0              41
   9  Pencil          2.591          0.798          -1.121         0              0              0              55
  10  Pencil          -1.318         1.238          -0.649         0              0              0              50
  11  CreditCard      2.795          0.810          -1.412         0              0              0              39
  12  Book            -0.902         0.574          1.179          0              332.922        0              31
  13  Box             2.734          0.195          0.89           0              0              0
  14  Laptop          -0.462         0.561          1.091          0              0              0              31
  15  CellPhone       -0.979         0.566          0.358          0              0              0              31
  16  BaseballBat     2.847          0.643          1.838          0              0              335.111
  17  BasketBall      1.019          0.330          -0.976         346.948        295.819        0
  18  TissueBox       1.982          0.570          -1.218         0              0              0              57
  19  CreditCard      -1.321         0.106          -0.544         0              0              0              53
  20  AlarmClock      2.591          0.795          -1.249         0              0              0              55
  21  Pencil          2.309          1.281          -1.372         0              0              0              40
  22  Boots           -1.279         0.000          -1.343         0              27.143         0
  23  Pillow          -0.634         0.63           1.611          0              0              0              31
  24  KeyChain        -1.248         1.235          -0.745         0              0              0              50
  25  Bowl            2.451          0.788          -1.207         0              0              0              55
  26  Watch           -1.352         1.233          -0.745         0              0              0              50
  27  CD              -1.283         1.233          -0.458         0              0              0              50
  28  Pen             -1.294         0.973          -0.954         0              0              0              47
  29  Mug             1.839          0.793          -1.153         0              0              0              55
  30  Statue          1.823          1.036          -1.419         0              0              0              55
  31  Bed             -0.640         0.008          0.871          0              0              0
  32  DeskLamp        -1.319         1.238          -0.994         0              90             0
  33  GarbageCan      2.838          0.007          0.215          0              270            0
  34  Blinds          0.111          2.337          -1.436         0              0              0
  35  Mirror          1.985          1.381          1.875          0              0              0
  36  Window          0.118          1.496          -1.588         90             180            0
  37  LightSwitch     2.654          1.276          1.899          0              180            0
  38  Chair           2.457          0.011          -0.997         0              189.124        0
  39  Shelf           2.476          0.919          -1.384         0              0              0
  40  Shelf           2.251          1.503          -1.383         0              0              0
  41  Shelf           2.700          1.510          -1.380         0              0              0
  42  Shelf           2.476          1.153          -1.384         0              0              0
  43  Shelf           1.803          1.386          -1.384         0              0              0
  44  Shelf           1.803          0.919          -1.381         0              0              0
  45  DogBed          0.920          0.013          -1.044         0              0              0
  46  Drawer          -1.305         0.454          -0.918         0              90             0
  47  Drawer          -1.305         0.752          -0.919         0              90             0
  48  Drawer          -1.305         0.178          -0.918         0              90             0
  49  Drawer          -1.305         0.752          -0.579         0              90             0
  50  Dresser         -1.328         0.011          -0.744         0              90             0
  51  Drawer          -1.306         1.031          -0.579         0              90             0
  52  Drawer          -1.305         0.454          -0.578         0              90             0
  53  Drawer          -1.305         0.178          -0.578         0              90             0
  54  Drawer          -1.305         1.031          -0.919         0              90             0
  55  Desk            2.211          0.009          -1.259         0              0              0
  56  Drawer          2.817          0.189          -1.176         0              0              0
  57  Drawer          1.940          0.632          -1.176         0              0              0
  58  Drawer          1.940          0.189          -1.176         0              0              0
  59  Drawer          1.623          0.632          -1.176         0              0              0
  60  Drawer          2.817          0.632          -1.176         0              0              0
  61  Drawer          2.817          0.411          -1.176         0              0              0
  62  Drawer          1.623          0.189          -1.176         0              0              0
  63  Drawer          1.623          0.410          -1.176         0              0              0
  64  Drawer          1.940          0.410          -1.176         0              0              0
  65  NorthWall
  66  EastWall
  67  SouthWall
  68  WestWall

Plan:
STEP 1: Turn right then head to the cabinet drawer at the end of the bed | STEP 2: Open the first drawer on the left, pick up the pen then close the drawer | STEP 3: Turn right then head to the desk | STEP 4: Put the pen in the mug | STEP 5: Pick up the mug with pen on the desk | STEP 6: Turn right then head to the cabinet drawer at the end of the bed | STEP 7: Put the mug with pen on top of the cabinet  | END