Task: Put a cup on the desk, by the chcair.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.5            0.900          -1.25          0              180            0
   1  Bowl            -0.483         0.861          -1.010         0              0              0              30
   2  CellPhone       -1.834         1.724          0.407          0              0              0              34
   3  Pen             -0.735         0.863          -1.702         0              0              0              30
   4  KeyChain        -1.994         0.386          0.646          0              0              0              42
   5  KeyChain        -2.292         0.039          2.576          0              180            0              45
   6  AlarmClock      -2.091         0.879          0.581          0              0              0              40
   7  Book            0.800          0.783          0.787          0              0              0              21
   8  AlarmClock      -1.286         1.724          0.489          0              0              0              34
   9  BasketBall      1.976          0.120          0.211          0              331.076        0
  10  Pen             -1.914         0.392          0.683          0              0              0              42
  11  Laptop          -1.783         0.871          0.732          0              0              0              40
  12  BaseballBat     1.953          0.659          -1.81          346.388        0              0
  13  Bowl            -1.834         0.886          0.407          0              0              0              40
  14  Pillow          1.409          0.918          1.366          0              0              0              21
  15  KeyChain        -2.240         0.039          2.682          0              180            0              45
  16  CreditCard      -0.473         0.364          -0.933         0              0              0              29
  17  CellPhone       -0.735         0.858          -0.836         0              0              0              30
  18  CD              -1.224         0.878          0.832          0              0              0              40
  19  Pencil          -0.511         0.652          -0.692         0              0              0              28
  20  Mug             -2.045         1.347          0.448          0              0              0              40
  21  Bed             1.227          -0.002         1.664          0              0              0
  22  LightSwitch     2.151          1.233          -0.518         0              270            0
  23  GarbageCan      -0.747         0.014          -0.327         0              0              0
  24  Mirror          -1.358         1.427          2.855          0              0              0
  25  DeskLamp        -2.296         0.858          0.750          0              0              0
  26  Window          -0.421         1.534          -1.947         90             0              0
  27  Window          0.579          1.534          -1.947         90             0              0
  28  Drawer          -0.491         0.739          -0.855         0              90             0
  29  Drawer          -0.491         0.204          -0.855         0              90             0
  30  Desk            -0.639         0.009          -1.187         0              90             0
  31  Drawer          -0.491         0.487          -0.855         0              90             0
  32  Shelf           -1.965         1.514          0.416          0              0              0
  33  Shelf           -1.965         1.092          0.416          0              0              0
  34  Shelf           -1.312         1.888          0.416          0              0              0
  35  Shelf           -1.965         1.888          0.416          0              0              0
  36  Shelf           -1.312         1.092          0.416          0              0              0
  37  Shelf           -1.312         1.514          0.416          0              0              0
  38  Blinds          0.601          2.161          -1.916         0              0              0
  39  Blinds          -0.402         2.161          -1.916         0              0              0
  40  Desk            -1.726         0.001          0.575          0              0              0
  41  Drawer          -2.058         0.733          0.734          0              0              0
  42  Drawer          -2.058         0.482          0.734          0              0              0
  43  Drawer          -2.058         0.198          0.735          0              0              0
  44  Chair           -0.137         0.000          -1.587         0              315            0
  45  Safe            -2.183         -7.748         2.576          0              180            0
  46  Chair           -1.433         0.009          0.780          357.672        206.726        0
  47  LaundryHamper   0.163          0.003          2.635          0              86.390         0
  48  NorthWall
  49  EastWall
  50  SouthWall
  51  WestWall

Plan:
STEP 1: Turn around and go to the bed, then turn left to go around to the other side of the bed, turn to your left just before the  laundry hamper, and go to the end of the desk, on your left. | STEP 2: Pick up the white cup on the second shelf up, on the right side of the desk, between the books.  | STEP 3: Move over to the left end of the desk. | STEP 4: Place the white cup back on the desk, directly in front of the blue office chair.  | END