Task: Place a mug with a pen on a nightstand.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.901          2.0            0              0              0
   1  Mug             2.656          0.178          1.448          0              180            0              41
   2  CD              2.753          0.448          -0.588         0              119.999        0              46
   3  CellPhone       3.082          0.988          0.723          0              180            0              33
   4  Pen             -1.648         0.668          1.401          0              0              0              45
   5  Pen             2.995          0.993          1.576          0              270            0              33
   6  Pen             2.995          0.993          1.008          0              180            0              33
   7  KeyChain        -1.603         0.664          -1.017         0              0              0              43
   8  Book            -0.181         0.693          0.113          0              0              0              25
   9  Book            -0.716         0.693          0.113          0              0              0              25
  10  KeyChain        -1.603         0.664          1.634          0              0              0              45
  11  Laptop          2.750          0.981          1.710          0              240.000        0              33
  12  Cloth           1.763          0.000          -1.732         0              70.590         0
  13  CreditCard      2.237          0.449          -0.953         0              119.999        0              46
  14  Pen             -1.648         0.668          -1.327         0              90             0              43
  15  Pencil          2.820          0.989          0.155          0              180            0              33
  16  BaseballBat     3.076          0.629          -1.762         0              0              338.300
  17  AlarmClock      2.820          0.987          0.439          0              180            0              33
  18  BaseballBat     0.808          0.05           2.151          0              0              270
  19  Pillow          -0.181         0.779          -0.555         0              0              0              25
  20  Pillow          -1.457         0.754          0.494          0              285.000        0              25
  21  CellPhone       -1.514         0.663          -1.327         0              0              0              43
  22  CD              2.575          0.886          1.784          0              180            0              34
  23  Mug             2.656          0.178          0.166          0              180            0              39
  24  Curtains        -0.020         2.923          -1.853         0              0              0
  25  Bed             -0.750         -0.018         0.113          1.247          270            0
  26  LightSwitch     1.317          1.297          2.197          0              180            0
  27  DeskLamp        -1.618         0.669          1.486          0              0              0
  28  DeskLamp        -1.631         0.669          -1.308         0              0              0
  29  Painting        1.524          1.516          -1.853         90             0              0
  30  GarbageCan      1.352          0.000          -1.685         0              0              0
  31  Mirror          0.575          1.351          2.197          0              0              0
  32  Window          -0.013         1.687          -1.919         90             0              0
  33  Dresser         2.819          0.000          1.008          0              270            0
  34  Drawer          2.572          0.901          1.784          0              270            0
  35  Cabinet         2.484          0.499          1.014          0              270            0
  36  Cabinet         2.484          0.499          0.999          0              270            0
  37  Drawer          2.572          0.901          1.263          0              270            0
  38  Drawer          2.572          0.901          0.748          0              270            0
  39  Cabinet         2.484          0.499          -0.019         0              270            0
  40  Drawer          2.572          0.901          0.230          0              270            0
  41  Cabinet         2.484          0.499          2.033          0              270            0
  42  Drawer          -1.533         0.459          1.478          0              90             0
  43  SideTable       -1.599         0.001          -1.249         0              90             0
  44  Drawer          -1.533         0.459          -1.250         0              90             0
  45  SideTable       -1.599         0.001          1.479          0              90             0
  46  ArmChair        2.574          0.002          -0.817         0              299.998        0
  47  Shelf           -1.552         0.040          -1.400         0              90             0
  48  Shelf           -1.552         0.040          -1.133         0              90             0
  49  Shelf           -1.552         0.040          1.328          0              90             0
  50  Shelf           -1.552         0.040          1.595          0              90             0
  51  NorthWall
  52  EastWall
  53  SouthWall
  54  WestWall

Plan:
STEP 1: Turn around, hang a left at the bed and walk to the black dresser ahead. | STEP 2: Pick up the yellow pen on the dresser in the middle. | STEP 3: Look down at the cabinets below the top of the dresser. | STEP 4: Open the middle lower cabinet and put the pen inside the black mug. | STEP 5: Pick up the mug with the pen inside and close the door. | STEP 6: Turn around, turn right, hang a left at the door and walk to the small nightstand next to the bed. | STEP 7: Put the mug with the pen on the front right corner of the nightstand. | END