Task: Store the pencil in a cup and place back on counter.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.0            0.910          4.75           0              0              0
   1  Mug             2.889          0.806          2.613          0              0              0              43
   2  Mug             2.889          0.806          2.833          0              0              0              43
   3  Bowl            2.576          0.809          2.392          0              0              0              43
   4  Bowl            -1.012         0.915          4.166          0              0              0              32
   5  CellPhone       -0.594         0.714          2.539          0              0              0              29
   6  Pen             -0.815         0.919          3.799          0              0              0              32
   7  Pen             2.545          0.751          -1.444         0              0              0              40
   8  Pencil          2.545          0.747          -1.588         0              0              0              40
   9  Pencil          2.609          0.846          0.230          0              0              0              44
  10  Book            -0.833         0.713          2.256          0              0              0              29
  11  Book            -1.307         0.399          -1.227         0              90             0              41
  12  AlarmClock      -0.946         0.921          4.35           0              0              0              32
  13  Laptop          2.275          0.397          -0.681         0              270            0              47
  14  Laptop          2.784          0.805          3.715          0              0              0              43
  15  Book            2.399          0.745          -1.570         0              90             0              52
  16  AlarmClock      2.496          0.753          -1.731         0              0              0              52
  17  CellPhone       -1.312         0.714          1.690          0              0              0              29
  18  Bowl            -0.749         0.915          3.982          0              0              0              32
  19  CreditCard      2.680          0.808          2.833          0              0              0              43
  20  KeyChain        2.367          0.809          2.833          0              0              0              43
  21  RemoteControl   2.680          0.809          3.274          0              0              0              43
  22  Laptop          -0.815         0.911          4.717          0              0              0              32
  23  Pencil          2.471          0.747          -1.422         0              90             0              40
  24  Pillow          -0.959         0.752          2.977          0              0              0              29
  25  Pillow          0.123          0.785          1.408          0              0              0              29
  26  CD              -1.307         0.399          -1.053         0              90             0              41
  27  Pen             2.575          0.102          0.428          0              0              0              45
  28  Mug             2.770          0.841          1.017          0              0              0              44
  29  Bed             -0.594         0.009          2.298          0              0              0
  30  Mirror          -1.184         1.603          4.348          0              0              0
  31  Television      2.738          1.330          0.622          0              270            0
  32  CounterTop      -0.890         0.951          4.349          0              0              0
  33  LightSwitch     0.800          1.371          5.245          0              90             0
  34  Painting        2.992          1.529          3.415          90             270            0
  35  Painting        2.992          1.529          2.553          90             270            0
  36  DeskLamp        2.625          0.772          -1.469         0              0              0
  37  DeskLamp        2.668          0.810          3.082          0              358.947        0
  38  GarbageCan      -0.626         -0.009         3.742          0              0              0
  39  Window          -0.453         1.450          -2.058         90             180            0
  40  SideTable       2.565          0.009          -1.534         0              0              0
  41  ArmChair        -1.277         0.009          -1.169         0              90             0
  42  Blinds          -0.5           2.174          -1.957         0              0              0
  43  Desk            2.572          0.011          3.054          0              270            0
  44  SideTable       2.645          0.009          0.624          0              270            0
  45  Drawer          2.525          0.214          0.624          0              270            0
  46  Drawer          2.525          0.578          0.624          0              270            0
  47  ArmChair        2.424          0.009          -0.564         0              270            0
  48  LaundryHamper   3.457          0.009          4.555          0              270            0
  49  Chair           2.591          0.020          2.015          0              0              0
  50  Chair           2.184          0.020          3.440          0              120.016        0
  51  Chair           2.211          0.020          2.592          0              74.981         0
  52
  53  NorthWall
  54  EastWall
  55  SouthWall
  56  WestWall

Plan:
STEP 1: Turn left, step forward, then turn left and step forward again, turn right and go to the counter. | STEP 2: Pick up the pencil located to the left of the bowl. | STEP 3: Turn around, head straight, turn right, walk forward then turn left to face a table. | STEP 4: Place the pencil in the first cup to the right of the lamp. | STEP 5: Pick up the cup with the pencil inside. | STEP 6: Turn around and return to the counter where the pencil was picked up. | STEP 7: Place the cup with the pencil to the left of the laptop. | END