Task: Put a pen in a cup on the desk.

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           0.937          3.0            0              90             0
   1  Mug             1.315          0.075          -2.909         0              0              0              34
   2  CD              1.615          0.093          -3.049         0              90             0              55
   3  CD              -3.495         0.190          3.271          0              149.999        0              56
   4  CellPhone       -0.893         0.087          -2.830         0              0              0              35
   5  CellPhone       -3.470         0.194          3.390          0              149.999        0              56
   6  Pen             1.805          0.559          2.612          0              180            0              57
   7  Pen             -1.539         1.121          -2.988         0              0              0              37
   8  Pencil          1.607          0.557          2.396          0              0              0              57
   9  Book            0.326          0.077          -2.825         0              0              0              34
  10  Book            -0.543         0.082          -2.882         0              0              0              36
  11  KeyChain        -0.365         0.083          -3.038         0              90             0              36
  12  KeyChain        1.882          0.095          -3.206         0              0              0              55
  13  RemoteControl   -0.924         0.193          3.399          0              175.771        0              49
  14  AlarmClock      -1.539         1.118          -2.817         0              0              0              37
  15  Laptop          1.813          0.830          0.735          0              0              0              30
  16  Book            0.958          0.832          0.735          0              0              0              30
  17  AlarmClock      -2.164         1.118          -3.158         0              0              0              37
  18  CellPhone       -1.16          0.586          -2.934         0              0              0              33
  19  Pillow          1.243          0.940          1.456          0              0              0              30
  20  Pillow          1.815          0.87           1.153          0              270            0              30
  21  TeddyBear       1.868          0.036          -0.561         0              59.999         0              Floor|-00.06|
  22  CreditCard      -0.914         1.116          -2.732         0              0              0              37
  23  KeyChain        1.615          0.095          -2.945         0              90             0              55
  24  Pencil          -0.187         0.087          -2.934         0              0              0              36
  25  Laptop          -1.227         1.114          -2.817         0              0              0              37
  26  RemoteControl   1.609          0.555          2.539          0              90             0              57
  27  CD              -2.565         0.082          -2.817         0              0              0              31
  28  Pen             1.755          0.559          2.181          0              0              0              57
  29  Mug             1.681          0.550          2.342          0              270            0              57
  30  Bed             0.967          0.049          0.667          0              90             0
  31  Cabinet         -3.0           1.497          -2.643         0              0              0
  32  Drawer          -0.365         0.785          -2.848         0              0              0
  33  Drawer          -1.159         0.785          -2.848         0              0              0
  34  Cabinet         2.064          1.497          -2.643         0              0              0
  35  Drawer          -1.159         0.285          -2.848         0              0              0
  36  Drawer          -0.365         0.285          -2.848         0              0              0
  37  Desk            -1.271         1.169          -2.987         0              0              0
  38  LightSwitch     -0.159         1.281          3.999          0              180            0
  39  GarbageCan      -3.338         0.022          -2.797         0              4.809          0
  40  HousePlant      -0.195         1.105          -3.084         0              0              0
  41  DeskLamp        1.863          0.581          2.431          0              0              0
  42  Mirror          -1.603         1.447          3.999          0              0              0
  43  Television      -3.883         1.771          2.122          0              90             0
  44  Window          -1.952         2.148          -3.302         90             180            0
  45  Window          -0.467         2.148          -3.302         90             180            0
  46  Window          -3.894         1.751          0.582          90             270            0
  47  Window          -3.894         1.751          -0.675         90             270            0
  48  LaundryHamper   1.831          0.058          3.689          0              354.434        1.354
  49  ArmChair        -0.948         0.051          3.583          0              175.988        0
  50  ArmChair        -2.172         0.051          3.598          0              180            0
  51  Blinds          -0.477         2.785          -3.253         0              0              0
  52  Blinds          -1.957         2.785          -3.253         0              0              0
  53  Blinds          -3.799         2.506          0.602          0              90             0
  54  Blinds          -3.799         2.506          -0.647         0              90             0
  55  Safe            1.673          0.054          -3.004         0              0              0
  56  ArmChair        -3.349         0.051          3.375          0              150.096        0
  57  SideTable       1.775          0.048          2.377          0              0              0
  58  Chair           -2.002         0.050          -2.532         0              165.000        0
  59  NorthWall
  60  EastWall
  61  SouthWall
  62  WestWall

Plan:
STEP 1: Go across the room and turn right to the table. | STEP 2: Pick up the pen from the table. | STEP 3: Put the pen in the white cup. | STEP 4: Pick up the white cup from the table. | STEP 5: Turn right, go halfway across the room, turn left and head to the desk across the room. | STEP 6: Put the cup on the desk to the left of the laptop. | END