Task: Put a cup with a pencil on a desk.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.900          -0.5           0              90             0
   1  CD              2.678          1.249          1.766          0              0              0              33
   2  CD              -2.530         0.680          -0.281         0              90             0              46
   3  CellPhone       2.039          0.896          -3.044         0              0              0              37
   4  Pen             1.786          0.648          -3.100         0              0              0              35
   5  Pen             2.556          0.902          -3.320         0              0              0              37
   6  Pencil          1.867          0.901          -2.975         0              0              0              37
   7  KeyChain        2.732          1.228          1.283          0              270            0              44
   8  Laptop          -2.157         0.617          -1.461         0              0              0              24
   9  Pillow          -2.440         0.680          -1.861         0              0              0              24
  10  Book            1.858          0.360          -3.139         0              90             0              34
  11  CreditCard      -2.484         0.680          -0.746         0              90             0              46
  12  Pen             2.713          0.374          1.595          0              270            0              43
  13  Pencil          2.211          0.901          -3.113         0              0              0              37
  14  TeddyBear       -0.667         0.612          -1.364         0              81.467         0              24
  15  Laptop          2.262          0.355          -0.296         0              0              0              32
  16  AlarmClock      2.591          1.232          1.283          0              270            0              44
  17  CellPhone       2.728          0.889          -3.182         0              0              0              37
  18  KeyChain        2.211          0.896          -3.251         0              0              0              37
  19  Pillow          -1.874         0.680          -2.261         0              0              0              24
  20  Pillow          -1.025         0.680          -2.061         0              0              0              24
  21  CD              2.713          0.924          1.679          0              270            0              42
  22  Mug             -2.575         0.679          -3.382         0              90             0              39
  23  Bowl            1.840          0.889          -3.239         0              0              0              37
  24  Bed             -1.613         -0.028         -1.861         0              270            0
  25  DeskLamp        2.760          0.890          -3.317         0              90             0
  26  DeskLamp        -2.459         0.668          -0.532         0              90             0
  27  LightSwitch     -0.700         1.016          0.334          0              90             0
  28  GarbageCan      1.343          1.087          -3.374         0              0              0
  29  Mirror          0.532          1.419          2.0            0              0              0
  30  Window          -0.834         1.394          -3.653         90             0              0
  31  Window          2.958          1.508          -1.019         90             270            0
  32  Sofa            2.383          0.008          -0.288         0              270            0
  33  Safe            2.721          1.228          1.784          0              270            0
  34  Drawer          1.979          0.486          -2.988         0              0              0
  35  Drawer          1.979          0.728          -2.988         0              0              0
  36  Drawer          1.979          0.208          -2.988         0              0              0
  37  Desk            2.318          -0.009         -3.214         0              0              0
  38  Drawer          -2.349         0.163          -3.150         0              90             0
  39  SideTable       -2.416         -0.001         -3.149         0              90             0
  40  Drawer          -2.349         0.455          -3.150         0              90             0
  41  Drawer          2.641          0.172          1.511          0              270            0
  42  Drawer          2.641          1.002          1.511          0              270            0
  43  Drawer          2.641          0.448          1.511          0              270            0
  44  Dresser         2.676          0.002          1.511          0              270            0
  45  Drawer          2.641          0.725          1.511          0              270            0
  46  SideTable       -2.416         -0.001         -0.514         0              90             0
  47  Drawer          -2.349         0.163          -0.514         0              90             0
  48  Drawer          -2.349         0.455          -0.514         0              90             0
  49  Blinds          -0.800         2.087          -3.627         0              0              0
  50  Blinds          2.931          2.166          -1.0           0              270            0
  51  Chair           2.574          0.002          -2.881         0              175.162        0
  52  NorthWall
  53  EastWall
  54  SouthWall
  55  WestWall

Plan:
STEP 1: Go right and stand in front of the desk. | STEP 2: Pick up the pencil from the desk. | STEP 3: Go right and stand in front of the night stand on the left side of the bed. | STEP 4: Put the pencil in the black cup. | STEP 5: Pick the cup up from the night stand. | STEP 6: Turn around and go to the desk and stand in front of it where the phone is. | STEP 7: Set the cup to the right of the phone on the desk. | END