Task: To put a pen in a cup plus move it to the side table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.25           0.900          -1.25          0              0              0
   1  TissueBox       1.909          0.800          -1.728         0              0              0              37
   2  CellPhone       0.064          0.570          -1.352         0              0              0              24
   3  Pen             1.162          0.523          -1.712         0              0              0              39
   4  Pen             1.909          0.804          -1.358         0              0              0              37
   5  Pencil          2.931          0.551          -1.419         0              0              0              36
   6  CreditCard      1.239          0.515          -1.712         0              0              0              39
   7  AlarmClock      2.108          0.798          -1.482         0              0              0              37
   8  Laptop          0.390          0.568          -0.459         0              0              0              24
   9  Laptop          0.064          0.568          -1.129         0              0              0              24
  10  Book            2.881          0.791          -1.623         0              39.196         0              37
  11  KeyChain        1.070          0.060          -1.593         0              270            0              40
  12  TissueBox       3.067          0.536          -1.421         0              0              0              36
  13  TeddyBear       -0.075         0.562          -0.274         353.177        297.143        5.348          24
  14  Pencil          1.317          0.522          -1.752         0              0              0              39
  15  CreditCard      1.296          0.059          -1.593         0              180            0              40
  16  TennisRacket    -0.921         0.344          0.390          13.911         273.938        195.992        Floor|+00.39|
  17  Laptop          0.552          0.568          -1.129         0              0              0              24
  18  AlarmClock      2.506          0.798          -1.543         0              0              0              37
  19  Pen             2.307          0.804          -1.543         0              0              0              37
  20  Pillow          0.299          0.643          -1.557         0              0              0              24
  21  CellPhone       1.008          0.517          -1.591         0              0              0              39
  22  CD              1.394          0.515          -1.591         0              0              0              39
  23  Mug             2.307          0.796          -1.420         0              0              0              37
  24  Bed             0.227          -0.003         -0.947         0              180            0
  25  Mirror          0.615          1.264          1.029          0              0              0
  26  GarbageCan      3.166          -0.011         -0.264         4.636          271.335        0
  27  DeskLamp        3.164          0.794          -1.664         0              315            0
  28  HousePlant      -0.833         0.000          0.843          0              0              0
  29  LightSwitch     2.010          1.126          1.029          0              180            0
  30  Window          1.794          1.677          -1.939         90             180            0
  31  Window          0.691          1.361          -1.938         90             180            0
  32  Dumbbell        2.628          0.001          -1.613         0              346.954        0
  33  Blinds          1.776          1.993          -1.858         0              0              0
  34  Blinds          0.670          1.993          -1.858         0              0              0
  35  Chair           2.255          0.004          -1.501         0              167.716        0
  36  Shelf           3.034          0.637          -1.580         0              0              0
  37  Desk            2.500          0.002          -1.596         0              0              0
  38  Drawer          1.240          0.354          -1.553         0              0              0
  39  SideTable       1.239          0.003          -1.551         0              0              0
  40  Drawer          1.240          0.126          -1.553         0              0              0
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: Turn around to face the desk. | STEP 2: Pick up the pen on the desk. | STEP 3: Place the pen in the cup on the desk. | STEP 4: Pick up the cup with a pen in it. | STEP 5: Step right to face the side table. | STEP 6: Place the cup on the side table. | END