Task: Place a cup with a pencil inside, on the dresser.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.900          -0.25          0              270            0
   1  Mug             2.384          0.894          -3.182         0              0              0              38
   2  CellPhone       -1.591         0.619          -1.461         0              0              0              25
   3  CellPhone       2.779          1.228          1.397          0              270            0              45
   4  Pencil          2.384          0.901          -3.389         0              0              0              38
   5  Pencil          1.344          0.024          -3.342         0              0              0              29
   6  CreditCard      -2.575         0.680          -3.072         0              90             0              40
   7  CreditCard      2.638          1.228          1.283          0              270            0              45
   8  KeyChain        -2.394         0.681          -3.072         0              270            0              40
   9  Book            1.786          0.642          -3.062         0              270            0              36
  10  Book            -2.484         0.680          -3.304         0              90             0              40
  11  Book            -1.308         0.618          -1.861         0              0              0              25
  12  CreditCard      1.867          0.896          -2.975         0              0              0              38
  13  Pen             2.556          0.902          -3.320         0              0              0              38
  14  Pencil          2.643          0.096          1.679          0              270            0              42
  15  TeddyBear       -0.667         0.612          -1.364         0              81.467         0              25
  16  Laptop          -1.31          0.612          -1.542         0              0              0              25
  17  AlarmClock      1.867          0.900          -3.113         0              0              0              38
  18  CellPhone       2.336          0.307          0.596          0              0              0              33
  19  KeyChain        -2.620         0.681          -0.359         0              90             0              47
  20  Pillow          -2.124         0.658          -1.522         0              28.296         0              25
  21  Pillow          -1.874         0.680          -2.261         0              0              0              25
  22  CD              1.867          0.896          -3.389         0              0              0              38
  23  Mug             2.039          0.894          -3.044         0              0              0              38
  24  Bowl            2.556          0.898          -3.113         0              0              0              38
  25  Bed             -1.613         -0.028         -1.861         0              270            0
  26  DeskLamp        2.760          0.890          -3.317         0              90             0
  27  DeskLamp        -2.459         0.668          -0.532         0              90             0
  28  LightSwitch     -0.700         1.016          0.334          0              90             0
  29  GarbageCan      1.343          1.087          -3.374         0              0              0
  30  Mirror          0.532          1.419          2.0            0              0              0
  31  Window          -0.834         1.394          -3.653         90             0              0
  32  Window          2.958          1.508          -1.019         90             270            0
  33  Sofa            2.383          0.008          -0.288         0              270            0
  34  Safe            2.721          1.228          1.784          0              270            0
  35  Drawer          1.979          0.486          -2.988         0              0              0
  36  Drawer          1.979          0.728          -2.988         0              0              0
  37  Drawer          1.979          0.208          -2.988         0              0              0
  38  Desk            2.318          -0.009         -3.214         0              0              0
  39  Drawer          -2.349         0.163          -3.150         0              90             0
  40  SideTable       -2.416         -0.001         -3.149         0              90             0
  41  Drawer          -2.349         0.455          -3.150         0              90             0
  42  Drawer          2.641          0.172          1.511          0              270            0
  43  Drawer          2.641          1.002          1.511          0              270            0
  44  Drawer          2.641          0.448          1.511          0              270            0
  45  Dresser         2.676          0.002          1.511          0              270            0
  46  Drawer          2.641          0.725          1.511          0              270            0
  47  SideTable       -2.416         -0.001         -0.514         0              90             0
  48  Drawer          -2.349         0.163          -0.514         0              90             0
  49  Drawer          -2.349         0.455          -0.514         0              90             0
  50  Blinds          -0.800         2.087          -3.627         0              0              0
  51  Blinds          2.931          2.166          -1.0           0              270            0
  52  Chair           2.574          0.002          -2.881         0              175.162        0
  53  NorthWall
  54  EastWall
  55  SouthWall
  56  WestWall

Plan:
STEP 1: Turn all the way around, then walk towards the sofa, turn right, then head for the desk against the wall. | STEP 2: Pick up the pencil located behind the black cup on the desk. | STEP 3: Take a step right towards the alarm clock on the desk. | STEP 4: Place the pencil inside the black cup located near the alarm clock. | STEP 5: Pick up the black cup with the pencil inside.  | STEP 6: Turn all the way around and walk towards the couch, turn right, then walk towards the brown dresser. | STEP 7: Place the cup on the dresser. | END