Task: Pu the cup with pencil on the desk

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              90             0
   1  Bowl            -1.332         0.696          -2.191         0              0              0              44
   2  Pen             -1.582         0.705          -1.755         0              0              0              44
   3  KeyChain        1.068          0.372          -1.998         0              180            0              22
   4  KeyChain        -1.334         0.101          -2.259         0              0              0              43
   5  Book            -0.962         0.610          -0.223         0              0              0              21
   6  KeyChain        1.259          0.384          -0.675         0              270            0              31
   7  BaseballBat     1.436          0.636          1.985          21.882         0              0
   8  BasketBall      1.270          0.12           -1.290         0              345.557        0
   9  Pencil          0.623          0.582          -2.373         0              0              0              39
  10  CellPhone       1.259          0.912          -0.537         0              270            0              30
  11  CreditCard      -1.332         0.699          -2.481         0              0              0              44
  12  Laptop          0.076          0.569          -2.456         0              0              0              39
  13  Pillow          -1.170         0.684          -0.990         0              0              0              21
  14  Boots           1.288          0.000          -0.961         0              177.912        0
  15  Pen             1.159          0.388          0.191          0              270            0              31
  16  AlarmClock      1.192          1.410          -0.093         0              270            0              32
  17  CD              1.172          0.237          -1.998         0              0              0              19
  18  Bowl            1.269          0.504          -1.874         0              270            0              22
  19  Drawer          0.980          0.271          -1.963         0              0              0
  20  Drawer          0.980          0.139          -1.963         0              0              0
  21  Bed             -1.209         0.016          -0.266         0              180            1.624
  22  Shelf           1.220          0.859          -1.802         0              270            0
  23  Drawer          0.980          0.404          -1.963         0              0              0
  24  Drawer          0.980          0.272          -1.639         0              0              0
  25  Mirror          0.740          1.491          2.099          0              0              0
  26  Drawer          0.980          0.139          -1.639         0              0              0
  27  Drawer          0.980          0.404          -1.639         0              0              0
  28  Chair           0.280          -0.001         -2.264         0              180            0
  29  GarbageCan      -1.542         0.013          1.919          2.249          116.925        355.175
  30  Shelf           1.259          0.903          -0.269         0              270            0
  31  Shelf           1.259          0.375          -0.263         0              270            0
  32  Shelf           1.259          1.402          -0.259         0              270            0
  33  Shelf           -1.577         1.513          -2.025         0              270            0
  34  LightSwitch     -0.755         1.176          2.099          0              180            0
  35  DeskLamp        -1.489         0.669          -2.419         0              0              0
  36  Window          0.243          0.963          -2.678         90             0              0
  37  Window          -0.361         0.963          -2.679         90             0              0
  38  Window          -0.962         0.963          -2.678         90             0              0
  39  Desk            0.445          0.001          -2.430         0              0              0
  40  Blinds          -0.349         2.186          -2.685         0              0              0
  41  Blinds          0.250          2.186          -2.685         0              0              0
  42  Blinds          -0.952         2.186          -2.685         0              0              0
  43  Drawer          -1.314         0.163          -2.051         0              90             0
  44  SideTable       -1.444         -0.001         -2.051         0              90             0
  45  Drawer          -1.314         0.455          -2.051         0              90             0
  46  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: Turn to your right then face the desk  | STEP 2: Pick up the pencil on the desk | STEP 3: Turn to your left face the cabinet with cup on top | STEP 4: Put the pencil in the cup | STEP 5: Pick up the cup with pencil | STEP 6: Turn all the way to your left then face the desk | STEP 7: Put the cup with pencil on top of the desk beside the laptop | END