Task: To sort a pen with a cup out together as for regular Television maintenance leave them on the table.

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            0.900          -0.75          0              180            0
   1  CD              0.952          0.082          -2.399         0              0              0              36
   2  Pencil          0.188          0.623          0.755          0              180            0              33
   3  CreditCard      -0.741         0.618          0.988          0              180            0              33
   4  CreditCard      0.033          0.618          0.755          0              180            0              33
   5  KeyChain        -1.117         0.376          -2.423         0              90             0              39
   6  KeyChain        -0.431         0.620          0.988          0              180            0              33
   7  Book            -0.117         0.555          -0.988         0              0              0              21
   8  Box             2.453          0.222          -0.041         0              0              0
   9  Book            -0.276         0.619          0.988          0              180            0              33
  10  KeyChain        -1.117         0.084          -2.423         0              90             0              37
  11  Pillow          0.192          0.607          -2.307         0              0              0              21
  12  BaseballBat     0.419          0.666          1.044          10.360         0              0
  13  Pencil          0.033          0.623          0.910          0              180            0              33
  14  CellPhone       1.055          0.680          -2.508         0              0              0              35
  15  CreditCard      -0.276         0.618          0.833          0              180            0              33
  16  Pen             -0.431         0.624          0.833          0              180            0              33
  17  Laptop          -0.661         0.613          0.778          0              165.000        0              33
  18  AlarmClock      -1.236         0.673          -2.425         0              29.999         0              35
  19  CD              -1.290         0.082          -2.423         0              0              0              37
  20  Mug             1.173          0.673          -2.419         0              0              0              35
  21  Bed             -0.118         -0.001         -1.699         0              180            0
  22  Mirror          2.644          1.347          0.384          0              90             0
  23  GarbageCan      2.467          -0.029         0.936          0              271.107        0
  24  LightSwitch     0.333          1.256          1.149          0              180            0
  25  DeskLamp        0.915          0.670          -2.435         0              0              0
  26  Painting        0.003          1.562          -2.687         90             180            0
  27  Window          -1.559         1.414          -1.356         90             270            0
  28  Window          -1.559         1.414          -0.057         90             270            0
  29  Shelf           -0.276         0.351          0.832          0              0              0
  30  Shelf           -0.276         0.099          0.832          0              0              0
  31  Blinds          -1.462         2.157          -1.343         0              90             0
  32  Blinds          -1.462         2.157          -0.046         0              90             0
  33  Desk            -0.276         -0.001         0.833          0              0              0
  34  SideTable       -1.204         0.002          -2.456         0              0              0
  35  SideTable       0.948          0.002          -2.456         0              0              0
  36  Drawer          0.948          0.166          -2.389         0              0              0
  37  Drawer          -1.204         0.166          -2.389         0              0              0
  38  Drawer          0.948          0.458          -2.389         0              0              0
  39  Drawer          -1.204         0.458          -2.389         0              0              0
  40
  41  NorthWall
  42  EastWall
  43  SouthWall
  44  WestWall

Plan:
STEP 1: Walk an an half circle to the right.  | STEP 2: At the front of the counter with the computer on it. grab the ink pen from it. | STEP 3: Travel to the right with the marker in hand, travel right further. | STEP 4: Lower  your marker in the cup on the dresser. | STEP 5: Pick up the cup and the pen together in hand. | STEP 6: Turn  left and turn left again and turn to the right with the cup in hand. | STEP 7: Plant the cup on down by the table with the Television on it. | END