Task: put the pen into the cup and put it on the table in between the beds

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.899          -2.75          0              270            0
   1  Mug             -2.916         1.411          -1.497         0              90             0              38
   2  Bowl            0.954          1.413          -2.854         0              270            0              47
   3  Bowl            0.922          1.141          -2.787         0              270            0              42
   4  Watch           3.024          0.793          -1.121         0              0              0              60
   5  Watch           3.086          0.793          -0.556         0              0              0              60
   6  CD              -1.574         0.337          0.393          0              0              0              62
   7  Pen             0.922          1.147          -2.218         0              270            0              37
   8  Pencil          -1.383         0.619          0.503          0              180            0              64
   9  KeyChain        -2.916         1.143          -1.564         0              90             0              48
  10  AlarmClock      -1.522         0.615          0.422          0              180            0              64
  11  Book            -2.612         0.599          -0.879         0              0              0              32
  12  Laptop          -2.155         0.598          -1.160         0              0              0              32
  13  KeyChain        3.209          0.793          -1.968         0              90             0              60
  14  Cloth           0.970          -0.001         -2.404         0              0              0
  15  BaseballBat     -2.982         0.015          -2.698         270            350.597        0
  16  BasketBall      -2.718         0.118          -1.925         0              0              0
  17  Pillow          -0.936         0.693          -0.879         0              0              0              33
  18  Pillow          -0.626         0.650          0.129          0              0              0              33
  19  TennisRacket    -3.018         0.301          -2.199         19.103         272.232        184.978
  20  Pencil          3.209          0.797          -1.121         0              0              0              60
  21  CreditCard      3.209          0.791          -2.250         0              0              0              60
  22  Cloth           0.911          0.025          -2.702         0              0              0
  23  TeddyBear       -2.645         0.624          -0.402         0              286.876        0              32
  24  Pen             -1.662         0.619          0.462          0              180            0              64
  25  Cloth           0.705          -0.001         -2.75          0              270            0
  26  AlarmClock      -2.885         1.414          -2.682         0              90             0              44
  27  Watch           2.962          0.793          -0.556         0              0              0              60
  28  CellPhone       -2.307         0.600          -0.598         0              0              0              32
  29  CD              -2.979         1.413          -2.197         0              90             0              40
  30  Mug             3.332          0.789          -1.968         0              0              0              60
  31  Bowl            0.954          1.413          -2.025         0              270            0              39
  32  Bed             -2.455         -0.000         -0.572         0              0              0
  33  Bed             -0.634         -0.000         -0.567         0              0              0
  34  Chair           2.828          -0.002         -0.004         0              245.795        0
  35  Chair           2.727          -0.002         -1.210         0              95.225         0
  36  GarbageCan      1.707          -0.003         -2.785         0              59.967         0
  37  Shelf           0.922          1.133          -2.163         0              270            0
  38  Shelf           -2.948         1.405          -1.621         0              90             0
  39  Shelf           0.922          1.405          -2.163         0              270            0
  40  Shelf           -2.948         1.133          -2.188         0              90             0
  41  Shelf           -2.948         1.405          -2.188         0              90             0
  42  Shelf           0.922          1.133          -2.729         0              270            0
  43  Shelf           0.922          1.133          -1.616         0              270            0
  44  Shelf           -2.948         1.405          -2.735         0              90             0
  45  Shelf           0.922          1.405          -1.616         0              270            0
  46  Shelf           -2.948         1.133          -2.735         0              90             0
  47  Shelf           0.922          1.405          -2.729         0              270            0
  48  Shelf           -2.948         1.133          -1.621         0              90             0
  49  LightSwitch     -0.142         1.328          0.600          0              180            0
  50  Poster          3.400          1.863          -1.976         90             90             0
  51  Poster          3.400          1.702          -0.792         90             90             0
  52  DeskLamp        3.126          0.789          -0.638         0              3.649          0
  53  Mirror          0.453          1.491          0.616          0              0              0
  54  Window          2.278          0.925          -3.184         90             0              0
  55  Window          -1.019         0.925          -3.184         90             0              0
  56  Blinds          -1.003         2.072          -3.177         0              0              0
  57  Blinds          2.292          2.072          -3.177         0              0              0
  58  Shelf           3.124          0.633          -0.564         0              270            0
  59  Shelf           3.124          0.633          -2.267         0              270            0
  60  Desk            3.141          -0.000         -1.414         0              270            0
  61  Desktop         3.101          0.792          -1.236         358.565        270            0
  62  Drawer          -1.523         0.408          0.346          0              180            0
  63  Drawer          -1.523         0.141          0.346          0              180            0
  64  SideTable       -1.522         -0.001         0.411          0              180            0
  65  NorthWall
  66  EastWall
  67  SouthWall
  68  WestWall

Plan:
STEP 1: turn right towards the bed then turn right again and walk to the shelf | STEP 2: pick up the pen that is in the shelf | STEP 3: turn around and walk straight to the other shelf then turn right towards the bed and look up | STEP 4: put the pen down on the shelf in the cup | STEP 5: pick up the pen and the cup together off of the shelf | STEP 6: look down and turn right and walk straight and turn left in between the beds and walk straight to the table  | STEP 7: put the cup and pen together down on the table in between the beds | END