Task: place a cup with a pen in it down on the desk at the foot of the bed

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.25           0.900          -2.0           0              180            0
   1  CD              -1.322         0.675          -2.508         0              0              0              36
   2  CellPhone       1.082          0.083          -2.399         0              0              0              38
   3  Pen             0.033          0.624          0.988          0              180            0              35
   4  Pen             1.055          0.681          -2.508         0              90             0              37
   5  Pen             -1.204         0.685          -2.419         0              0              0              36
   6  Pencil          1.114          0.685          -2.374         0              0              0              37
   7  Pencil          -0.121         0.625          0.988          0              180            0              35
   8  KeyChain        -0.121         0.620          0.832          0              180            0              35
   9  KeyChain        -0.431         0.620          0.599          0              180            0              35
  10  Box             2.453          0.222          -0.041         0              0              0
  11  Book            -0.300         0.555          -2.103         0              0              0              23
  12  KeyChain        -0.431         0.620          0.988          0              180            0              35
  13  Pillow          0.192          0.607          -2.307         0              0              0              23
  14  BaseballBat     0.419          0.666          1.044          10.360         0              0
  15  Pencil          -1.263         0.685          -2.553         0              0              0              36
  16  CellPhone       -0.300         0.557          -1.657         0              0              0              23
  17  CreditCard      -1.085         0.679          -2.598         0              0              0              36
  18  Pen             -0.121         0.625          0.677          0              180            0              35
  19  Laptop          -0.661         0.613          0.778          0              165.000        0              35
  20  AlarmClock      -0.276         0.620          0.988          0              180            0              35
  21  CD              0.909          0.082          -2.375         0              0              0              38
  22  Mug             1.173          0.673          -2.464         0              0              0              37
  23  Bed             -0.118         -0.001         -1.699         0              180            0
  24  Mirror          2.644          1.347          0.384          0              90             0
  25  GarbageCan      2.467          -0.029         0.936          0              271.107        0
  26  LightSwitch     0.333          1.256          1.149          0              180            0
  27  DeskLamp        0.915          0.670          -2.435         0              0              0
  28  Painting        0.003          1.562          -2.687         90             180            0
  29  Window          -1.559         1.414          -1.356         90             270            0
  30  Window          -1.559         1.414          -0.057         90             270            0
  31  Shelf           -0.276         0.351          0.832          0              0              0
  32  Shelf           -0.276         0.099          0.832          0              0              0
  33  Blinds          -1.462         2.157          -1.343         0              90             0
  34  Blinds          -1.462         2.157          -0.046         0              90             0
  35  Desk            -0.276         -0.001         0.833          0              0              0
  36  SideTable       -1.204         0.002          -2.456         0              0              0
  37  SideTable       0.948          0.002          -2.456         0              0              0
  38  Drawer          0.948          0.166          -2.389         0              0              0
  39  Drawer          -1.204         0.166          -2.389         0              0              0
  40  Drawer          0.948          0.458          -2.389         0              0              0
  41  Drawer          -1.204         0.458          -2.389         0              0              0
  42
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: turn right and walk over to the night stand to the left of the bed | STEP 2: grab a pen off of the nightstand | STEP 3: move to the left of the night stand and face it | STEP 4: place the pen down in a cup on the night stand | STEP 5: pick up the cup off of the nightstand | STEP 6: turn right and move over to the desk at the foot of the bed | STEP 7: place the cup down on the desk there | END