Task: Place a cup with a pencil in it on a book case shelf

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.901          -0.5           0              0              0
   1  Vase            -1.846         0.599          -0.250         0              0              0              50
   2  CellPhone       -1.714         0.599          -0.109         0              0              0              50
   3  CellPhone       0.450          0.414          -2.550         0              0              0              45
   4  Pen             1.194          0.361          -2.282         0              0              0              60
   5  Pencil          0.269          0.116          -2.550         0              0              0              44
   6  Pencil          -1.714         0.602          -0.392         0              0              0              50
   7  Pencil          0.536          0.732          -2.530         0              180            0              43
   8  CreditCard      -1.648         0.599          0.031          0              0              0              50
   9  CreditCard      1.257          1.577          -2.277         0              0              0              36
  10  KeyChain        0.269          0.415          -2.578         0              0              0              45
  11  Laptop          -0.333         0.415          -1.610         0              0              0              49
  12  Box             1.996          0.316          -1.042         0              254.839        0
  13  Book            -0.794         0.418          -2.100         0              0              0              49
  14  Pillow          -1.548         0.457          -1.831         0              90             0              49
  15  CellPhone       -1.515         0.599          -0.109         0              0              0              50
  16  Vase            0.766          0.731          -2.647         0              180            0              43
  17  BaseballBat     -1.629         0.649          0.416          14.491         0              0
  18  CreditCard      -1.744         0.069          -1.113         0              0              0              54
  19  TennisRacket    2.244          0.279          -1.901         335.402        251.974        201.714
  20  KeyChain        -1.716         0.502          -1.275         357.838        0              0              52
  21  AlarmClock      -1.854         0.501          -1.175         0              285.158        0              50
  22  Cloth           2.176          0.0            -0.571         0              335.474        0
  23  Laptop          -1.024         0.415          -1.733         0              0              0              49
  24  CD              0.735          0.724          -2.547         0              0              0              43
  25  CD              1.788          1.178          -2.277         0              0              0              32
  26  Pen             0.076          0.736          -2.471         0              180            0              43
  27  Pencil          -1.582         0.602          -0.533         0              0              0              50
  28  Mug             -1.846         0.597          -0.109         0              90             0              50
  29  Shelf           1.311          0.969          -2.298         0              0              0
  30  Shelf           1.843          0.969          -2.298         0              0              0
  31  Shelf           1.311          1.171          -2.298         0              0              0
  32  Shelf           1.843          1.171          -2.298         0              0              0
  33  Shelf           1.311          1.368          -2.298         0              0              0
  34  Shelf           1.843          1.570          -2.298         0              0              0
  35  Shelf           1.843          1.368          -2.298         0              0              0
  36  Shelf           1.311          1.570          -2.298         0              0              0
  37  DeskLamp        -1.848         0.592          -0.786         0              90             0
  38  GarbageCan      2.197          -0.007         0.298          0              232.025        0
  39  LightSwitch     -0.638         1.149          0.499          0              180            0
  40  Poster          0.001          1.495          -2.642         90             90             0
  41  Mirror          -1.072         1.469          0.497          0              0              0
  42  Window          0.435          1.398          -2.855         90             0              0
  43  SideTable       0.435          0.036          -2.647         0              0              0
  44  Drawer          0.433          0.203          -2.445         0              0              0
  45  Drawer          0.433          0.505          -2.445         0              0              0
  46  Dumbbell        -1.656         0.602          -0.534         0              90             0
  47  Blinds          0.449          2.164          -2.845         0              0              0
  48  GarbageBag      1.730          0.318          0.222          270            90             83.412
  49  Bed             -1.047         -0.000         -1.851         0              270            0
  50  Desk            -1.710         0.000          -0.374         0              90             0
  51  Drawer          -1.790         0.245          -1.144         0              90             0
  52  SideTable       -1.824         0.000          -1.144         0              90             0
  53  Drawer          -1.790         0.392          -1.144         0              90             0
  54  Drawer          -1.790         0.097          -1.144         0              90             0
  55  Chair           -1.453         0.005          -0.311         0              286.095        0
  56  Shelf           1.591          0.606          -2.305         0              0              0
  57  ShelvingUnit    1.588          0.004          -2.326         0              0              0
  58  Shelf           1.854          0.453          -2.298         0              0              0
  59  Shelf           1.321          0.155          -2.296         0              0              0
  60  Shelf           1.323          0.456          -2.300         0              0              0
  61  Shelf           1.852          0.152          -2.294         0              0              0
  62  NorthWall
  63  EastWall
  64  SouthWall
  65  WestWall

Plan:
STEP 1: turn to the left and go to the desk | STEP 2: pick up the right pencil from the desk | STEP 3: turn to the right and take a few steps and turn to the left facing the desk | STEP 4: put the pencil in the white cup sitting on the desk | STEP 5: pick up the cup with the pencil in it from the desk | STEP 6: turn to the left twice and go past clear the door and turn to the right and go to right of the book case | STEP 7: put the cup with the pencil in it on the bottom right shelf of the book case | END