Task: drop a mug with a pen in it on the table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.0            0.900          -2.0           0              180            0
   1  Mug             -0.741         0.618          0.755          0              180            0              38
   2  CellPhone       0.033          0.619          0.755          0              180            0              38
   3  Pen             -0.741         0.625          0.988          0              180            0              38
   4  Pen             1.055          0.681          -2.553         0              180            0              40
   5  Pen             -0.741         0.624          0.833          0              180            0              38
   6  Pencil          0.033          0.623          0.599          0              180            0              38
   7  Pencil          -0.276         0.625          0.755          0              180            0              38
   8  CreditCard      0.995          0.082          -2.351         0              0              0              43
   9  CreditCard      1.082          0.374          -2.446         0              0              0              43
  10  KeyChain        -1.160         0.376          -2.375         0              0              0              44
  11  Book            -0.483         0.555          -2.103         0              0              0              26
  12  Book            0.064          0.555          -1.434         0              0              0              26
  13  Box             2.453          0.222          -0.041         0              0              0
  14  Book            -0.586         0.619          0.677          0              180            0              38
  15  KeyChain        -1.026         0.681          -2.553         0              0              0              39
  16  Pillow          0.247          0.653          -1.657         0              0              0              26
  17  BaseballBat     0.419          0.666          1.044          10.360         0              0
  18  Pencil          -0.741         0.623          0.677          0              180            0              38
  19  CellPhone       -0.118         0.557          -1.880         0              0              0              26
  20  CreditCard      -0.121         0.618          0.677          0              180            0              38
  21  Pen             -0.276         0.624          0.988          0              180            0              38
  22  Laptop          -0.300         0.554          -1.434         0              0              0              26
  23  AlarmClock      -1.236         0.673          -2.425         0              29.999         0              40
  24  CD              -0.276         0.619          0.677          0              180            0              38
  25  Mug             -0.121         0.618          0.599          0              270            0              38
  26  Bed             -0.118         -0.001         -1.699         0              180            0
  27  Mirror          2.644          1.347          0.384          0              90             0
  28  GarbageCan      2.467          -0.029         0.936          0              271.107        0
  29  LightSwitch     0.333          1.256          1.149          0              180            0
  30  DeskLamp        0.915          0.670          -2.435         0              0              0
  31  Painting        0.003          1.562          -2.687         90             180            0
  32  Window          -1.559         1.414          -1.356         90             270            0
  33  Window          -1.559         1.414          -0.057         90             270            0
  34  Shelf           -0.276         0.351          0.832          0              0              0
  35  Shelf           -0.276         0.099          0.832          0              0              0
  36  Blinds          -1.462         2.157          -1.343         0              90             0
  37  Blinds          -1.462         2.157          -0.046         0              90             0
  38  Desk            -0.276         -0.001         0.833          0              0              0
  39  SideTable       -1.204         0.002          -2.456         0              0              0
  40  SideTable       0.948          0.002          -2.456         0              0              0
  41  Drawer          0.948          0.166          -2.389         0              0              0
  42  Drawer          -1.204         0.166          -2.389         0              0              0
  43  Drawer          0.948          0.458          -2.389         0              0              0
  44  Drawer          -1.204         0.458          -2.389         0              0              0
  45
  46  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: turn around and head towards the  table | STEP 2: pick up the pen | STEP 3: drop the pen inside the mug | STEP 4: pick up the mug | STEP 5: turn around and head for the bed table | STEP 6: drop the mug on the bed table | END