Task: put the pencil in the cup, put it in the shelf

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.900          0.0            0              270            0
   1  Mug             1.479          0.699          -1.326         0              180            0              49
   2  Mug             1.524          0.706          -0.623         0              270            0              41
   3  TissueBox       0.741          0.703          -1.423         0              180            0              49
   4  TissueBox       0.741          0.705          -1.619         0              180            0              49
   5  CD              1.603          0.487          -0.464         0              270            0              42
   6  CD              1.541          0.487          -0.604         0              270            0              42
   7  CellPhone       0.433          0.085          -1.479         0              180            0              45
   8  CellPhone       0.987          0.707          -1.619         0              180            0              49
   9  Pen             1.541          0.493          -0.324         0              270            0              42
  10  Pen             1.233          0.707          -1.521         0              270            0              49
  11  Pencil          1.449          0.492          -0.604         0              270            0              42
  12  Pencil          0.248          0.707          -1.716         0              180            0              49
  13  Book            -1.336         0.527          -0.082         0              0              0              32
  14  KeyChain        1.676          0.709          -0.385         0              0              0              41
  15  Box             1.537          1.652          0.692          0              0              0              35
  16  Book            -0.028         0.497          -1.425         0              180            0              44
  17  AlarmClock      1.479          0.702          -1.814         0              180            0              49
  18  CellPhone       -1.923         0.530          -0.570         0              0              0              32
  19  TissueBox       0.494          0.703          -1.423         0              180            0              49
  20  TeddyBear       -2.204         0.500          0.181          355.000        297.467        9.162          32
  21  CreditCard      0.987          0.703          -1.326         0              180            0              49
  22  KeyChain        1.591          1.412          0.393          0              270            0              41
  23  BaseballBat     -2.202         0.04           -1.343         0              45             90             Floor|+00.00|
  24  TennisRacket    -2.254         0.324          -1.806         15.000         180            180            Floor|+00.00|
  25  Pillow          -1.483         0.598          -0.570         0              0              0              32
  26  Laptop          0.037          0.694          -1.459         0              348.828        0              49
  27  CD              1.469          1.411          0.007          0              270            0              41
  28  Pen             0.987          0.709          -1.521         0              180            0              49
  29  Pencil          -0.606         0.055          0.8            0              0              0              34
  30  Mug             0.002          0.699          -1.814         0              180            0              49
  31  Mirror          -0.689         1.495          0.954          0              0              0
  32  Bed             -1.742         0.000          -0.071         0              0              0
  33  Chair           0.891          -0.001         -1.251         0              175.104        0
  34  GarbageCan      -0.606         -0.021         0.799          0              0              0
  35  ShelvingUnit    1.550          1.402          0.374          0              270            0
  36  Painting        -2.401         1.700          -0.859         90             90             0
  37  DeskLamp        1.291          0.699          -1.717         0              0              0
  38  LightSwitch     0.231          1.287          0.954          0              180            0
  39  HousePlant      1.488          1.394          0.035          0              122.291        0
  40  Window          0.046          1.559          -2.079         90             180            0
  41  SideTable       1.561          0.000          -0.465         0              270            0
  42  Shelf           1.541          0.493          -0.475         0              270            0
  43  Blinds          0.007          2.152          -2.014         0              0              0
  44  Drawer          -0.156         0.547          -1.430         0              0              0
  45  Drawer          0.270          0.159          -1.430         0              0              0
  46  Drawer          -0.156         0.159          -1.430         0              0              0
  47  Drawer          0.270          0.353          -1.430         0              0              0
  48  Drawer          -0.156         0.353          -1.430         0              0              0
  49  Desk            0.634          0.002          -1.557         0              0              0
  50  Drawer          0.270          0.547          -1.430         0              0              0
  51  Shelf           1.406          0.571          -1.514         0              0              0
  52  Shelf           1.406          0.183          -1.514         0              0              0
  53  Shelf           1.584          0.183          -1.514         0              0              0
  54  Shelf           1.406          0.377          -1.514         0              0              0
  55  Shelf           1.584          0.377          -1.514         0              0              0
  56  Shelf           1.584          0.571          -1.514         0              0              0
  57  NorthWall
  58  EastWall
  59  SouthWall
  60  WestWall

Plan:
STEP 1: Turn around to the shelf by the book shelf | STEP 2: Grab the pencil in the shelf | STEP 3: Put the pencil in the cup on top of the shelf | STEP 4: Grab the cup with the pencil in it | STEP 5: Walk to the left a little  | STEP 6: put the cup with the pencil in the shelf | END