Task: Put the cup 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          -1.5           0              180            0
   1  Pen             1.071          0.510          -1.983         0              270            0              30
   2  Pen             1.219          0.510          -1.983         0              270            0              30
   3  Pen             0.309          0.582          -2.646         0              0              0              47
   4  CellPhone       1.277          0.371          -1.639         0              0              0              35
   5  CellPhone       -1.645         0.697          -2.191         0              0              0              52
   6  Pencil          -1.577         1.527          -2.004         0              270            0              41
   7  Pencil          1.172          0.243          -1.929         0              0              0              27
   8  KeyChain        1.26           0.384          -0.242         0              270            0              39
   9  CreditCard      1.172          0.371          -1.929         0              0              0              27
  10  Book            -1.323         0.610          -0.223         0              0              0              29
  11  Book            -1.323         0.610          0.618          0              0              0              29
  12  AlarmClock      -1.332         0.696          -2.191         0              0              0              52
  13  Book            0.623          0.569          -2.471         0              350.999        0              36
  14  KeyChain        1.260          0.912          0.039          0              270            0              38
  15  BaseballBat     1.436          0.636          1.985          21.882         0              0
  16  BasketBall      1.270          0.12           -1.290         0              345.557        0
  17  Pencil          -1.457         0.701          -1.610         0              0              0              52
  18  CellPhone       -1.645         0.700          -1.755         0              0              0              52
  19  CreditCard      -1.332         0.699          -2.336         0              0              0              52
  20  Laptop          -0.962         0.609          -0.223         0              0              0              29
  21  Pillow          -1.170         0.684          -0.990         0              0              0              29
  22  Boots           1.288          0.000          -0.961         0              177.912        0
  23  Pen             -1.457         0.705          -2.046         0              0              0              52
  24  AlarmClock      1.259          0.911          -0.393         0              270            0              38
  25  CD              1.22           0.504          -1.819         0              270            0              30
  26  Bowl            0.937          0.576          -2.373         0              0              0              47
  27  Drawer          0.980          0.271          -1.963         0              0              0
  28  Drawer          0.980          0.139          -1.963         0              0              0
  29  Bed             -1.209         0.016          -0.266         0              180            1.624
  30  Shelf           1.220          0.859          -1.802         0              270            0
  31  Drawer          0.980          0.404          -1.963         0              0              0
  32  Drawer          0.980          0.272          -1.639         0              0              0
  33  Mirror          0.740          1.491          2.099          0              0              0
  34  Drawer          0.980          0.139          -1.639         0              0              0
  35  Drawer          0.980          0.404          -1.639         0              0              0
  36  Chair           0.280          -0.001         -2.264         0              180            0
  37  GarbageCan      -1.542         0.013          1.919          2.249          116.925        355.175
  38  Shelf           1.259          0.903          -0.269         0              270            0
  39  Shelf           1.259          0.375          -0.263         0              270            0
  40  Shelf           1.259          1.402          -0.259         0              270            0
  41  Shelf           -1.577         1.513          -2.025         0              270            0
  42  LightSwitch     -0.755         1.176          2.099          0              180            0
  43  DeskLamp        -1.489         0.669          -2.419         0              0              0
  44  Window          0.243          0.963          -2.678         90             0              0
  45  Window          -0.361         0.963          -2.679         90             0              0
  46  Window          -0.962         0.963          -2.678         90             0              0
  47  Desk            0.445          0.001          -2.430         0              0              0
  48  Blinds          -0.349         2.186          -2.685         0              0              0
  49  Blinds          0.250          2.186          -2.685         0              0              0
  50  Blinds          -0.952         2.186          -2.685         0              0              0
  51  Drawer          -1.314         0.163          -2.051         0              90             0
  52  SideTable       -1.444         -0.001         -2.051         0              90             0
  53  Drawer          -1.314         0.455          -2.051         0              90             0
  54  NorthWall
  55  EastWall
  56  SouthWall
  57  WestWall

Plan:
STEP 1: Turn left then face the cabinet | STEP 2: Pick up the pen on the cabinet beside the cd | STEP 3: Turn right then face the desk | STEP 4: Put the pen in the cup | STEP 5: Pick up the cup with pen  | STEP 6: Turn right then head to the cabinet at the end of the bed | STEP 7: Put the cup with pen on the cabinet | END