Task: place a cup with a pencil in it down on the desk at the foot of the bed

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.0           0.900          0.0            0              180            0
   1  Mug             1.278          1.136          1.402          0              270            0              39
   2  CD              1.098          0.552          1.666          0              0              0              41
   3  CD              1.084          0.728          0.901          0              0              0              42
   4  CellPhone       1.173          0.555          1.737          0              0              0              41
   5  CellPhone       1.310          1.142          1.089          0              270            0              39
   6  Pen             1.356          0.734          1.066          0              270            0              42
   7  Pen             1.310          1.144          1.558          0              270            0              39
   8  Pillow          0.704          0.849          -0.988         0              0              0              31
   9  AlarmClock      1.288          0.729          1.231          0              0              0              42
  10  AlarmClock      1.356          0.729          1.396          0              0              0              42
  11  Book            0.955          0.780          -0.166         0              0              0              31
  12  Box             -1.233         0.263          -1.435         0              312.675        0
  13  CellPhone       1.342          1.142          0.933          0              270            0              39
  14  BaseballBat     -1.717         0.708          -0.677         0              0              12.045
  15  Bowl            0.255          0.693          -1.705         0              0              0              44
  16  BasketBall      -1.64          0.127          -1.652         0              0              0
  17  Laptop          1.080          0.776          -0.714         0              0              0              31
  18  CreditCard      0.138          0.690          -1.705         0              0              0              44
  19  KeyChain        -0.213         0.694          -1.749         0              0              0              44
  20  AlarmClock      1.084          0.729          1.066          0              0              0              42
  21  Pencil          1.356          0.732          1.562          0              0              0              42
  22  Pillow          0.872          0.816          -1.513         0              0              0              31
  23  CD              1.102          0.077          0.564          0              0              0              32
  24  Pen             0.021          0.695          -1.572         0              0              0              44
  25  Mug             1.016          0.727          1.562          0              270            0              42
  26  Poster          0.978          1.970          -1.868         90             0              0
  27  Mirror          -0.884         1.350          2.086          0              0              0
  28  Poster          1.483          1.978          -1.210         90             270            0
  29  Poster          1.483          1.503          -0.128         90             270            0
  30  Poster          1.483          2.138          -0.128         90             270            0
  31  Bed             0.955          0.002          -0.722         0              0              0
  32  GarbageCan      1.133          0.032          0.581          0              0              0
  33  DeskLamp        -0.396         0.664          -1.666         0              315            0
  34  LightSwitch     0.554          1.154          2.079          0              180            0
  35  Window          -0.174         1.006          -2.009         90             0              0
  36  LaundryHamper   -1.425         0.006          1.676          0              149.999        0
  37  Chair           1.127          -8.434         1.053          0              90             0
  38  Blinds          -0.145         1.679          -1.986         0              0              0
  39  Shelf           1.316          1.174          1.388          0              270            0
  40  Drawer          1.099          0.167          1.724          0              270            0
  41  Drawer          1.099          0.622          1.724          0              270            0
  42  Desk            1.189          0.002          1.384          0              270            0
  43  Drawer          1.099          0.408          1.724          0              270            0
  44  SideTable       -0.103         -0.000         -1.691         0              0              0
  45  Drawer          -0.104         0.157          -1.618         0              0              0
  46  Drawer          -0.104         0.456          -1.618         0              0              0
  47  NorthWall
  48  EastWall
  49  SouthWall
  50  WestWall

Plan:
STEP 1: turn around and walk to the mirror on the wall, then turn right and walk to the desk ahead | STEP 2: grab a pencil off of the desktop | STEP 3: turn around, walk forwards a bit then turn left and walk over to the desk next to the right of the bed | STEP 4: place the pencil inside a cup on the desk there | STEP 5: pick the cup up from the desk | STEP 6: turn around and walk back over to the desk and the foot of the bed | STEP 7: place the cup down on the desk there | END