Task: Pick up the cups on the desk and place them in the desk drawer.

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           0.901          2.75           0              180            0
   1  Mug             -0.782         0.675          2.364          0              90             0              34
   2  CellPhone       -0.703         0.739          -1.320         0              0              0              50
   3  Pencil          -0.513         0.681          2.364          0              90             0              34
   4  CreditCard      1.587          0.444          1.605          0              180            0              61
   5  Book            1.612          0.730          -0.748         0              270            0              58
   6  Book            -0.632         1.841          1.631          0              0              0              53
   7  Laptop          1.612          0.724          0.482          0              270            0              58
   8  Laptop          -0.855         0.667          2.988          0              90             0              44
   9  AlarmClock      -0.855         0.669          3.249          0              90             0              44
  10  AlarmClock      2.003          0.727          0.482          0              270            0              58
  11  Pillow          -0.867         1.585          -0.496         0              0              0              48
  12  Book            -0.672         0.069          2.235          0              0              0              33
  13  Box             -0.493         0.2            -0.286         0              84.024         0
  14  TennisRacket    -1.345         0.288          0.233          30.000         270            180
  15  Pen             -0.480         0.674          2.815          0              90             0              44
  16  AlarmClock      -0.782         0.678          1.804          0              90             0              34
  17  Pillow          -0.63          1.871          3.047          0              0              0              53
  18  Pillow          -0.596         1.585          -0.942         0              0              0              48
  19  CellPhone       1.672          0.436          1.883          0              180            0              61
  20  KeyChain        -0.626         0.978          -1.509         0              0              0              49
  21  CreditCard      -0.480         0.669          3.249          0              90             0              44
  22  CD              1.502          0.432          1.883          0              180            0              61
  23  Pencil          -0.584         0.982          -1.322         0              0              0              49
  24  Laptop          -0.632         1.835          2.481          0              0              0              53
  25  Mug             -0.513         0.675          1.804          0              90             0              34
  26  DeskLamp        2.016          0.701          0.708          0              0              0
  27  Painting        2.199          1.771          -0.101         90             270            0
  28  GarbageCan      2.022          -0.037         -1.239         0              270            0
  29  Mirror          2.229          1.254          2.664          0              90             0
  30  LightSwitch     2.199          1.258          1.988          0              270            0
  31  Window          1.575          1.559          -1.953         90             180            0
  32  Drawer          -0.551         0.578          2.246          0              90             0
  33  Cabinet         -0.649         0.270          2.247          0              90             0
  34  Desk            -0.655         0.006          1.814          0              90             0
  35  Shelf           1.769          0.184          0.757          0              270            0
  36  Shelf           1.769          0.572          0.757          0              270            0
  37  Shelf           1.769          0.572          0.935          0              270            0
  38  Shelf           1.769          0.378          0.935          0              270            0
  39  Shelf           1.769          0.378          0.757          0              270            0
  40  Shelf           1.769          0.184          0.935          0              270            0
  41  Blinds          1.547          2.434          -1.886         0              0              0
  42  Drawer          -0.553         0.155          2.942          0              90             0
  43  Drawer          -0.553         0.572          2.942          0              90             0
  44  Dresser         -0.665         0.001          2.939          0              90             0
  45  Drawer          -0.553         0.376          2.942          0              90             0
  46  Chair           1.482          0.012          0.223          0              77.085         0
  47  Chair           -0.199         0.012          1.538          0              287.086        0
  48  Bed             -0.866         0.007          -0.919         0              0              0
  49  Dresser         -0.772         0.001          -1.313         0              90             0
  50  Drawer          -0.660         0.830          -1.309         0              90             0
  51  Drawer          -0.660         0.225          -1.309         0              90             0
  52  Drawer          -0.660         0.547          -1.309         0              90             0
  53  Bed             -0.872         1.637          2.188          0              0              0
  54  Drawer          1.685          0.160          -0.805         0              270            0
  55  Drawer          1.685          0.160          -0.378         0              270            0
  56  Drawer          1.685          0.547          -0.805         0              270            0
  57  Drawer          1.685          0.547          -0.378         0              270            0
  58  Desk            1.812          0.003          -0.014         0              270            0
  59  Drawer          1.685          0.354          -0.805         0              270            0
  60  Drawer          1.685          0.354          -0.378         0              270            0
  61  ArmChair        1.712          -0.000         1.532          0              270            0
  62  NorthWall
  63  EastWall
  64  SouthWall
  65  WestWall

Plan:
STEP 1: Turn to your right | STEP 2: Pick up the leftmost cup on the desk | STEP 3: Turn around and take a step before turning back towards the desk | STEP 4: Open the desk drawer and place the cup inside before closing the drawer. | STEP 5: Turn to your right and then back towards the desk. | STEP 6: Pick up the cup that's on the desk | STEP 7: Turn around and take a step before turning back towards the desk | STEP 8: Open the desk drawer and place the cup inside before closing the drawer. | END