Task: place a cup with a pencil in it on top of 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           -0.5           0.900          -1.0           0              180            0
   1  CD              1.480          0.487          -0.675         0              270            0              37
   2  Pen             -0.028         0.294          -1.479         0              180            0              43
   3  Pencil          1.524          0.712          -0.306         0              0              0              36
   4  CreditCard      0.248          0.701          -1.619         0              180            0              44
   5  CreditCard      1.479          0.701          -1.814         0              180            0              44
   6  Book            -0.028         0.081          -1.425         0              180            0              41
   7  Book            -0.028         0.497          -1.425         0              180            0              39
   8  Laptop          -1.777         0.525          0.648          0              0              0              27
   9  Pillow          -2.070         0.598          -0.814         0              0              0              27
  10  Box             0.002          0.953          -1.521         0              180            0              44
  11  Book            -1.336         0.527          -0.326         0              0              0              27
  12  AlarmClock      1.511          0.489          -0.464         0              270            0              37
  13  CellPhone       -1.483         0.530          0.404          0              0              0              27
  14  TissueBox       1.233          0.705          -1.619         0              180            0              44
  15  TeddyBear       -2.204         0.500          0.181          355.000        297.467        9.162          27
  16  CreditCard      -0.166         0.081          -1.425         0              180            0              41
  17  KeyChain        0.494          0.704          -1.423         0              180            0              44
  18  BaseballBat     -2.202         0.04           -1.343         0              45             90             Floor|+00.00|
  19  TennisRacket    -2.254         0.324          -1.806         15.000         180            180            Floor|+00.00|
  20  Pillow          -1.923         0.598          -0.326         0              0              0              27
  21  Laptop          -1.630         0.525          -0.814         0              0              0              27
  22  CD              -0.028         0.289          -1.585         0              180            0              43
  23  Pen             1.510          1.417          0.779          0              270            0              36
  24  Pencil          0.002          0.707          -1.716         0              180            0              44
  25  Mug             1.510          1.409          0.264          0              270            0              36
  26  Mirror          -0.689         1.495          0.954          0              0              0
  27  Bed             -1.742         0.000          -0.071         0              0              0
  28  Chair           0.891          -0.001         -1.251         0              175.104        0
  29  GarbageCan      -0.606         -0.021         0.799          0              0              0
  30  ShelvingUnit    1.550          1.402          0.374          0              270            0
  31  Painting        -2.401         1.700          -0.859         90             90             0
  32  DeskLamp        1.291          0.699          -1.717         0              0              0
  33  LightSwitch     0.231          1.287          0.954          0              180            0
  34  HousePlant      1.488          1.394          0.035          0              122.291        0
  35  Window          0.046          1.559          -2.079         90             180            0
  36  SideTable       1.561          0.000          -0.465         0              270            0
  37  Shelf           1.541          0.493          -0.475         0              270            0
  38  Blinds          0.007          2.152          -2.014         0              0              0
  39  Drawer          -0.156         0.547          -1.430         0              0              0
  40  Drawer          0.270          0.159          -1.430         0              0              0
  41  Drawer          -0.156         0.159          -1.430         0              0              0
  42  Drawer          0.270          0.353          -1.430         0              0              0
  43  Drawer          -0.156         0.353          -1.430         0              0              0
  44  Desk            0.634          0.002          -1.557         0              0              0
  45  Drawer          0.270          0.547          -1.430         0              0              0
  46  Shelf           1.406          0.571          -1.514         0              0              0
  47  Shelf           1.406          0.183          -1.514         0              0              0
  48  Shelf           1.584          0.183          -1.514         0              0              0
  49  Shelf           1.406          0.377          -1.514         0              0              0
  50  Shelf           1.584          0.377          -1.514         0              0              0
  51  Shelf           1.584          0.571          -1.514         0              0              0
  52  NorthWall
  53  EastWall
  54  SouthWall
  55  WestWall

Plan:
STEP 1: turn around and walk over to the book shelf on the right side of the room | STEP 2: grab the pencil off of the right side of the book shelf | STEP 3: turn left and walk over to the middle of the book shelf | STEP 4: place the pencil inside a cup on top of the book shelf | STEP 5: pick up the cup off of the top of the bookshelf | STEP 6: turn right and walk over to the desk | STEP 7: place the cup down on top of the desk | END