Task: Place a pen in a black cup on a dresser near a computer.

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           0.902          -1.25          0              90             0
   1  CD              1.680          0.655          -1.289         0              0              0              39
   2  CellPhone       1.540          0.015          -1.464         0              0              0              43
   3  CellPhone       1.540          0.501          -2.473         0              0              0              48
   4  Pen             1.719          0.805          -2.219         0              0              0              46
   5  Pen             1.597          0.800          -1.467         0              0              0              46
   6  CreditCard      1.474          0.801          -2.407         0              0              0              46
   7  CreditCard      1.597          0.801          -2.219         0              0              0              46
   8  KeyChain        1.633          0.501          -1.949         0              0              0              48
   9  KeyChain        1.680          0.173          -2.473         0              90             0              44
  10  Laptop          -0.818         0.693          0.281          0              0              0              26
  11  Book            -0.331         0.694          -0.146         0              0              0              26
  12  KeyChain        1.586          0.173          -1.289         0              0              0              42
  13  AlarmClock      0.069          0.665          -2.578         0              0              0              51
  14  CreditCard      1.781          0.801          -1.279         0              0              0              46
  15  Laptop          1.663          0.794          -1.842         0              287.390        0              46
  16  Pen             1.633          0.339          -2.124         0              0              0              45
  17  Pencil          1.586          0.017          -2.298         0              0              0              47
  18  BaseballBat     -1.844         0.678          -2.203         0              0              8.760          Floor|+00.01|
  19  Pillow          -0.818         0.755          -1.001         0              0              0              26
  20  Pillow          -0.088         0.755          -0.787         0              0              0              26
  21  TennisRacket    -1.597         0.001          -1.367         90             37.792         0              Floor|+00.01|
  22  CellPhone       -0.331         0.695          -0.787         0              0              0              26
  23  CD              1.680          0.500          -2.473         0              0              0              48
  24  Mug             0.255          0.671          -2.608         0              0              0              51
  25  Mirror          3.534          1.661          -0.277         0              90             0
  26  Bed             -0.842         -0.000         -0.361         0              270            0
  27  DeskLamp        1.742          0.819          -1.394         0              358.556        0
  28  Painting        0.246          1.564          -2.665         90             0              0
  29  Painting        1.894          1.549          -2.424         90             270            0
  30  Painting        1.894          1.549          -1.289         90             270            0
  31  GarbageCan      3.378          0.000          0.220          0              0              0
  32  LightSwitch     -0.078         1.219          1.298          0              180            0
  33  Window          -0.486         1.409          -2.691         90             0              0
  34  Window          0.987          1.409          -2.691         90             0              0
  35  VacuumCleaner   -1.649         0.010          -2.440         0              42.426         0
  36  Blinds          -0.490         2.130          -2.638         0              0              0
  37  Blinds          1.011          2.130          -2.638         0              0              0
  38  Drawer          1.596          0.411          -1.459         0              270            0
  39  Drawer          1.597          0.732          -1.459         0              270            0
  40  Drawer          1.597          0.574          -1.459         0              270            0
  41  Drawer          1.597          0.732          -2.202         0              270            0
  42  Drawer          1.596          0.247          -1.459         0              270            0
  43  Drawer          1.596          0.090          -1.459         0              270            0
  44  Drawer          1.596          0.247          -2.202         0              270            0
  45  Drawer          1.596          0.411          -2.202         0              270            0
  46  Dresser         1.634          0.003          -1.830         0              270            0
  47  Drawer          1.596          0.090          -2.202         0              270            0
  48  Drawer          1.597          0.574          -2.202         0              270            0
  49  ShelvingUnit    0.249          0.003          -2.519         0              0              0
  50  Shelf           0.017          0.178          -2.511         0              0              0
  51  Shelf           0.249          0.665          -2.519         0              0              0
  52  Shelf           0.243          0.344          -2.511         0              0              0
  53  Shelf           0.474          0.344          -2.511         0              0              0
  54  Shelf           0.355          0.011          -2.511         0              0              0
  55  Shelf           0.016          0.011          -2.511         0              0              0
  56  Shelf           0.357          0.178          -2.511         0              0              0
  57  NorthWall
  58  EastWall
  59  SouthWall
  60  WestWall

Plan:
STEP 1: Turn to the right, walk forward, turn to the left towards the dresser. | STEP 2: Pick up the red pen above the credit card on the left. | STEP 3: Turn around, walk forward, turn to the left and face the bookcase between two windows. | STEP 4: Place the pen in the black cup on the bookcase. | STEP 5: Pick up the black cup with the pen in it. | STEP 6: Turn around, walk forward to the bed, turn to the right and walk to the dresser. | STEP 7: Place the black cup on the dresser on top of the credit card that is to the right of the laptop. | END