Task: Put a cup with a pen in it on the shelf in a bookcase.

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          -1.25          0              0              0
   1  Vase            0.536          0.731          -2.705         0              180            0              42
   2  CellPhone       -1.714         0.599          -0.533         0              0              0              49
   3  CellPhone       0.306          0.728          -2.705         0              180            0              42
   4  Pen             -1.791         0.514          -1.274         0              0              0              51
   5  Pen             1.384          0.983          -2.235         0              0              0              28
   6  Pencil          -1.648         0.602          0.031          0              0              0              49
   7  CreditCard      1.916          0.355          -2.282         0              0              0              57
   8  CreditCard      0.191          0.728          -2.471         0              180            0              42
   9  KeyChain        0.306          0.729          -2.588         0              180            0              42
  10  Pillow          -1.024         0.491          -1.610         0              0              0              48
  11  Box             1.996          0.316          -1.042         0              254.839        0
  12  Book            -0.794         0.418          -1.977         0              0              0              48
  13  Pillow          -1.548         0.457          -1.831         0              90             0              48
  14  CellPhone       -1.846         0.599          -0.392         0              0              0              49
  15  Vase            0.766          0.729          -2.705         0              180            0              42
  16  BaseballBat     -1.629         0.649          0.416          14.491         0              0
  17  CreditCard      1.660          1.577          -2.319         0              0              0              35
  18  TennisRacket    2.244          0.279          -1.901         335.402        251.974        201.714
  19  KeyChain        1.257          0.356          -2.282         0              0              0              59
  20  AlarmClock      -1.846         0.599          -0.109         0              0              0              49
  21  Cloth           2.176          0.0            -0.571         0              335.474        0
  22  Laptop          -0.333         0.415          -2.100         0              0              0              48
  23  CD              0.421          0.730          -2.764         0              180            0              42
  24  CD              -1.901         0.508          -1.065         0              0              0              51
  25  Pen             0.651          0.734          -2.530         0              270            0              42
  26  Pencil          -1.714         0.602          -0.250         0              0              0              49
  27  Mug             -1.582         0.597          -0.533         0              0              0              49
  28  Shelf           1.311          0.969          -2.298         0              0              0
  29  Shelf           1.843          0.969          -2.298         0              0              0
  30  Shelf           1.311          1.171          -2.298         0              0              0
  31  Shelf           1.843          1.171          -2.298         0              0              0
  32  Shelf           1.311          1.368          -2.298         0              0              0
  33  Shelf           1.843          1.570          -2.298         0              0              0
  34  Shelf           1.843          1.368          -2.298         0              0              0
  35  Shelf           1.311          1.570          -2.298         0              0              0
  36  DeskLamp        -1.848         0.592          -0.786         0              90             0
  37  GarbageCan      2.197          -0.007         0.298          0              232.025        0
  38  LightSwitch     -0.638         1.149          0.499          0              180            0
  39  Poster          0.001          1.495          -2.642         90             90             0
  40  Mirror          -1.072         1.469          0.497          0              0              0
  41  Window          0.435          1.398          -2.855         90             0              0
  42  SideTable       0.435          0.036          -2.647         0              0              0
  43  Drawer          0.433          0.203          -2.445         0              0              0
  44  Drawer          0.433          0.505          -2.445         0              0              0
  45  Dumbbell        -1.656         0.602          -0.534         0              90             0
  46  Blinds          0.449          2.164          -2.845         0              0              0
  47  GarbageBag      1.730          0.318          0.222          270            90             83.412
  48  Bed             -1.047         -0.000         -1.851         0              270            0
  49  Desk            -1.710         0.000          -0.374         0              90             0
  50  Drawer          -1.790         0.245          -1.144         0              90             0
  51  SideTable       -1.824         0.000          -1.144         0              90             0
  52  Drawer          -1.790         0.392          -1.144         0              90             0
  53  Drawer          -1.790         0.097          -1.144         0              90             0
  54  Chair           -1.453         0.005          -0.311         0              286.095        0
  55  Shelf           1.591          0.606          -2.305         0              0              0
  56  ShelvingUnit    1.588          0.004          -2.326         0              0              0
  57  Shelf           1.854          0.453          -2.298         0              0              0
  58  Shelf           1.321          0.155          -2.296         0              0              0
  59  Shelf           1.323          0.456          -2.300         0              0              0
  60  Shelf           1.852          0.152          -2.294         0              0              0
  61  NorthWall
  62  EastWall
  63  SouthWall
  64  WestWall

Plan:
STEP 1: Turn left, walk to nightstand. | STEP 2: Pick up pen from nightstand. | STEP 3: Go to table to right of nightstand. | STEP 4: Put pen in cup on the table. | STEP 5: Pick up the cup from the table. | STEP 6: Turn left, turn left, walk to wall, turn right, walk to bookcase. | STEP 7: Put cup on bottom left hand shelf. | END