Task: place a cup with a pencil in it on top of the cabinet

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          0.937          2.25           0              270            0
   1  CD              1.721          0.093          -2.945         0              90             0              52
   2  CD              -3.080         0.190          3.197          0              149.999        0              53
   3  Pen             1.681          0.558          2.490          0              180            0              54
   4  Pen             1.537          0.558          2.440          0              90             0              54
   5  CreditCard      -0.632         0.582          -2.986         0              0              0              29
   6  CreditCard      -0.850         0.190          3.495          0              175.771        0              46
   7  Book            -1.227         1.115          -2.902         0              0              0              34
   8  Book            -2.625         0.082          -3.055         0              0              0              28
   9  RemoteControl   -0.602         1.118          -3.073         0              0              0              34
  10  RemoteControl   -1.539         1.118          -3.158         0              0              0              34
  11  AlarmClock      1.706          0.555          2.612          0              0              0              54
  12  Pillow          0.958          0.940          0.975          0              0              0              27
  13  Book            -3.401         0.190          3.430          0              149.999        0              53
  14  AlarmClock      -1.227         1.118          -2.732         0              0              0              34
  15  CellPhone       -1.248         0.087          -2.986         0              0              0              32
  16  Pillow          0.104          0.940          1.456          0              0              0              27
  17  Pillow          0.104          0.940          0.735          0              0              0              27
  18  TeddyBear       1.868          0.036          -0.561         0              59.999         0              Floor|-00.06|
  19  CreditCard      -1.071         0.084          -2.778         0              0              0              32
  20  KeyChain        1.561          0.095          -2.893         0              180            0              52
  21  Pencil          -1.227         1.119          -3.073         0              0              0              34
  22  Laptop          -0.914         1.114          -3.073         0              0              0              34
  23  RemoteControl   1.609          0.555          2.342          0              90             0              54
  24  CD              -0.602         1.115          -2.902         0              0              0              34
  25  Pen             -0.602         1.121          -2.732         0              0              0              34
  26  Mug             1.657          0.550          2.181          0              0              0              54
  27  Bed             0.967          0.049          0.667          0              90             0
  28  Cabinet         -3.0           1.497          -2.643         0              0              0
  29  Drawer          -0.365         0.785          -2.848         0              0              0
  30  Drawer          -1.159         0.785          -2.848         0              0              0
  31  Cabinet         2.064          1.497          -2.643         0              0              0
  32  Drawer          -1.159         0.285          -2.848         0              0              0
  33  Drawer          -0.365         0.285          -2.848         0              0              0
  34  Desk            -1.271         1.169          -2.987         0              0              0
  35  LightSwitch     -0.159         1.281          3.999          0              180            0
  36  GarbageCan      -3.338         0.022          -2.797         0              4.809          0
  37  HousePlant      -0.195         1.105          -3.084         0              0              0
  38  DeskLamp        1.863          0.581          2.431          0              0              0
  39  Mirror          -1.603         1.447          3.999          0              0              0
  40  Television      -3.883         1.771          2.122          0              90             0
  41  Window          -1.952         2.148          -3.302         90             180            0
  42  Window          -0.467         2.148          -3.302         90             180            0
  43  Window          -3.894         1.751          0.582          90             270            0
  44  Window          -3.894         1.751          -0.675         90             270            0
  45  LaundryHamper   1.831          0.058          3.689          0              354.434        1.354
  46  ArmChair        -0.948         0.051          3.583          0              175.988        0
  47  ArmChair        -2.172         0.051          3.598          0              180            0
  48  Blinds          -0.477         2.785          -3.253         0              0              0
  49  Blinds          -1.957         2.785          -3.253         0              0              0
  50  Blinds          -3.799         2.506          0.602          0              90             0
  51  Blinds          -3.799         2.506          -0.647         0              90             0
  52  Safe            1.673          0.054          -3.004         0              0              0
  53  ArmChair        -3.349         0.051          3.375          0              150.096        0
  54  SideTable       1.775          0.048          2.377          0              0              0
  55  Chair           -2.002         0.050          -2.532         0              165.000        0
  56  NorthWall
  57  EastWall
  58  SouthWall
  59  WestWall

Plan:
STEP 1: turn left and walk to the end of the room | STEP 2: grab a pencil off of the cabinet there | STEP 3: turn around and walk past the foot of the bed on your right, then turn right and walk over to the night stand on the left side of the bed | STEP 4: place the pencil inside a cup on the nightstand | STEP 5: pick up the cup with the pencil in it off of the nightstand | STEP 6: turn around and walk past the bed on your left, then take a left and walk to the end of the room where the cabinet is | STEP 7: place the cup on top of the cabinet | END