Task: Moving a cup with a pencil around.

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          1.0            0              90             0
   1  CD              1.278          1.138          1.246          0              270            0              36
   2  CellPhone       0.579          0.782          -0.988         0              0              0              28
   3  Pen             -0.213         0.698          -1.794         0              0              0              41
   4  Pencil          1.405          1.142          1.246          0              270            0              36
   5  Pencil          1.152          0.732          0.901          0              0              0              39
   6  Book            0.704          0.780          -1.262         0              0              0              28
   7  Pillow          0.955          0.849          -0.166         0              0              0              28
   8  Book            1.145          0.721          1.806          0              0              0              38
   9  Box             -1.233         0.263          -1.435         0              312.675        0
  10  CellPhone       0.704          0.782          -0.166         0              0              0              28
  11  BaseballBat     -1.717         0.708          -0.677         0              0              12.045
  12  Bowl            0.021          0.693          -1.660         0              0              0              41
  13  BasketBall      -1.64          0.127          -1.652         0              0              0
  14  Laptop          1.223          0.721          1.342          0              255.000        0              39
  15  CreditCard      1.278          1.138          1.558          0              270            0              36
  16  KeyChain        -0.213         0.694          -1.660         0              270            0              41
  17  AlarmClock      1.342          1.131          0.960          0              270            0              36
  18  Pencil          1.310          1.136          1.089          0              270            0              36
  19  Pillow          0.955          0.849          -0.714         0              0              0              28
  20  CD              1.165          0.077          0.564          0              0              0              29
  21  Pen             -0.213         0.698          -1.616         0              0              0              41
  22  Mug             0.164          0.686          -1.805         0              348.715        0              41
  23  Poster          0.978          1.970          -1.868         90             0              0
  24  Mirror          -0.884         1.350          2.086          0              0              0
  25  Poster          1.483          1.978          -1.210         90             270            0
  26  Poster          1.483          1.503          -0.128         90             270            0
  27  Poster          1.483          2.138          -0.128         90             270            0
  28  Bed             0.955          0.002          -0.722         0              0              0
  29  GarbageCan      1.133          0.032          0.581          0              0              0
  30  DeskLamp        -0.396         0.664          -1.666         0              315            0
  31  LightSwitch     0.554          1.154          2.079          0              180            0
  32  Window          -0.174         1.006          -2.009         90             0              0
  33  LaundryHamper   -1.425         0.006          1.676          0              149.999        0
  34  Chair           1.127          -8.434         1.053          0              90             0
  35  Blinds          -0.145         1.679          -1.986         0              0              0
  36  Shelf           1.316          1.174          1.388          0              270            0
  37  Drawer          1.099          0.167          1.724          0              270            0
  38  Drawer          1.099          0.622          1.724          0              270            0
  39  Desk            1.189          0.002          1.384          0              270            0
  40  Drawer          1.099          0.408          1.724          0              270            0
  41  SideTable       -0.103         -0.000         -1.691         0              0              0
  42  Drawer          -0.104         0.157          -1.618         0              0              0
  43  Drawer          -0.104         0.456          -1.618         0              0              0
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: Turn left and then back right to face the desk.  | STEP 2: Pick up a pencil from behind the lap top. | STEP 3: Turn right and then left, go towards the night stand. | STEP 4: Put the pencil in the clear cup. | STEP 5: Pick up the cup that has the pencil in it. | STEP 6: Turn around and go back to the desk with the lap top on it. | STEP 7: Place the clear cup on the desk to the right of the lap top. | END