Task: Move a cup and pencil to a dresser.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.75           0.900          -1.75          0              90             0
   1  Mug             1.867          0.894          -3.044         0              0              0              42
   2  CD              2.643          0.094          1.257          0              270            0              46
   3  CD              2.007          0.360          -3.177         0              0              0              39
   4  Pen             -2.484         0.686          -3.304         0              90             0              44
   5  Pen             1.344          0.025          -3.407         0              270            0              33
   6  Pencil          2.556          0.901          -3.251         0              0              0              42
   7  Pencil          2.728          0.901          -3.113         0              0              0              42
   8  CreditCard      -2.349         0.680          -3.150         0              90             0              44
   9  CreditCard      -2.428         0.082          -3.149         0              270            0              43
  10  KeyChain        1.694          0.896          -3.182         0              180            0              42
  11  KeyChain        2.764          1.249          1.767          0              0              0              38
  12  Book            -1.874         0.618          -2.261         0              0              0              29
  13  AlarmClock      2.685          1.232          1.511          0              270            0              49
  14  Pillow          -1.308         0.680          -2.461         0              0              0              29
  15  Book            -1.025         0.618          -1.861         0              0              0              29
  16  CreditCard      2.384          0.896          -3.251         0              0              0              42
  17  Pen             -2.575         0.686          -3.072         0              90             0              44
  18  Pencil          -2.439         0.685          -3.072         0              90             0              44
  19  TeddyBear       -0.667         0.612          -1.364         0              81.467         0              29
  20  Laptop          -1.31          0.612          -1.542         0              0              0              29
  21  AlarmClock      -2.575         0.684          -3.227         0              90             0              44
  22  CellPhone       2.113          0.307          0.373          0              0              0              37
  23  KeyChain        2.779          1.228          1.283          0              270            0              49
  24  Pillow          -2.124         0.658          -1.522         0              28.296         0              29
  25  Pillow          2.188          0.415          -0.296         0              0              0              37
  26  CD              2.728          0.896          -2.975         0              0              0              42
  27  Mug             -2.394         0.679          -3.382         0              90             0              44
  28  Bowl            2.211          0.898          -3.182         0              0              0              42
  29  Bed             -1.613         -0.028         -1.861         0              270            0
  30  DeskLamp        2.760          0.890          -3.317         0              90             0
  31  DeskLamp        -2.459         0.668          -0.532         0              90             0
  32  LightSwitch     -0.700         1.016          0.334          0              90             0
  33  GarbageCan      1.343          1.087          -3.374         0              0              0
  34  Mirror          0.532          1.419          2.0            0              0              0
  35  Window          -0.834         1.394          -3.653         90             0              0
  36  Window          2.958          1.508          -1.019         90             270            0
  37  Sofa            2.383          0.008          -0.288         0              270            0
  38  Safe            2.721          1.228          1.784          0              270            0
  39  Drawer          1.979          0.486          -2.988         0              0              0
  40  Drawer          1.979          0.728          -2.988         0              0              0
  41  Drawer          1.979          0.208          -2.988         0              0              0
  42  Desk            2.318          -0.009         -3.214         0              0              0
  43  Drawer          -2.349         0.163          -3.150         0              90             0
  44  SideTable       -2.416         -0.001         -3.149         0              90             0
  45  Drawer          -2.349         0.455          -3.150         0              90             0
  46  Drawer          2.641          0.172          1.511          0              270            0
  47  Drawer          2.641          1.002          1.511          0              270            0
  48  Drawer          2.641          0.448          1.511          0              270            0
  49  Dresser         2.676          0.002          1.511          0              270            0
  50  Drawer          2.641          0.725          1.511          0              270            0
  51  SideTable       -2.416         -0.001         -0.514         0              90             0
  52  Drawer          -2.349         0.163          -0.514         0              90             0
  53  Drawer          -2.349         0.455          -0.514         0              90             0
  54  Blinds          -0.800         2.087          -3.627         0              0              0
  55  Blinds          2.931          2.166          -1.0           0              270            0
  56  Chair           2.574          0.002          -2.881         0              175.162        0
  57  NorthWall
  58  EastWall
  59  SouthWall
  60  WestWall

Plan:
STEP 1: Turn to the right and locate the chair. | STEP 2: Pick up the pencil from the back of the desk. | STEP 3: Carry the pencil and move a few steps to the right and turn left to still face the desk. | STEP 4: Place the pencil in a cup on the close side of the desk. | STEP 5: Pick up the cup from the desk. | STEP 6: Carry the cup and turn left. Go back and then turn right to find the tall dresser. | STEP 7: Place the cup and pencil on the top right of the dresser. | END