Task: place a black mug with a pencil in it on to the desk

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          1.25           0              180            0
   1  Pen             -2.620         0.686          -2.995         0              90             0              38
   2  Pencil          -2.439         0.678          -0.668         0              90             0              45
   3  Pencil          -2.575         0.685          -0.436         0              90             0              45
   4  CreditCard      -2.428         0.082          -0.685         0              270            0              46
   5  CreditCard      1.694          0.896          -2.975         0              0              0              36
   6  KeyChain        2.706          1.249          1.708          0              90             0              32
   7  AlarmClock      -2.394         0.684          -3.304         0              90             0              38
   8  AlarmClock      2.638          1.232          1.397          0              270            0              43
   9  Book            2.351          0.889          -3.157         0              195.000        0              36
  10  CreditCard      1.633          0.361          -3.177         0              0              0              33
  11  Pen             1.867          0.902          -2.975         0              0              0              36
  12  Pencil          1.344          0.024          -3.375         0              0              0              27
  13  TeddyBear       -0.667         0.612          -1.364         0              81.467         0              23
  14  Laptop          -1.31          0.612          -1.542         0              0              0              23
  15  AlarmClock      2.728          0.900          -3.044         0              0              0              36
  16  CellPhone       2.591          1.228          1.168          0              270            0              43
  17  KeyChain        2.826          1.228          1.397          0              270            0              43
  18  Pillow          -2.124         0.658          -1.522         0              28.296         0              23
  19  Pillow          -1.591         0.680          -2.061         0              0              0              23
  20  CD              -2.428         0.082          -3.264         0              270            0              39
  21  Mug             -2.575         0.679          -3.382         0              90             0              38
  22  Bowl            -2.484         0.683          -3.072         0              90             0              38
  23  Bed             -1.613         -0.028         -1.861         0              270            0
  24  DeskLamp        2.760          0.890          -3.317         0              90             0
  25  DeskLamp        -2.459         0.668          -0.532         0              90             0
  26  LightSwitch     -0.700         1.016          0.334          0              90             0
  27  GarbageCan      1.343          1.087          -3.374         0              0              0
  28  Mirror          0.532          1.419          2.0            0              0              0
  29  Window          -0.834         1.394          -3.653         90             0              0
  30  Window          2.958          1.508          -1.019         90             270            0
  31  Sofa            2.383          0.008          -0.288         0              270            0
  32  Safe            2.721          1.228          1.784          0              270            0
  33  Drawer          1.979          0.486          -2.988         0              0              0
  34  Drawer          1.979          0.728          -2.988         0              0              0
  35  Drawer          1.979          0.208          -2.988         0              0              0
  36  Desk            2.318          -0.009         -3.214         0              0              0
  37  Drawer          -2.349         0.163          -3.150         0              90             0
  38  SideTable       -2.416         -0.001         -3.149         0              90             0
  39  Drawer          -2.349         0.455          -3.150         0              90             0
  40  Drawer          2.641          0.172          1.511          0              270            0
  41  Drawer          2.641          1.002          1.511          0              270            0
  42  Drawer          2.641          0.448          1.511          0              270            0
  43  Dresser         2.676          0.002          1.511          0              270            0
  44  Drawer          2.641          0.725          1.511          0              270            0
  45  SideTable       -2.416         -0.001         -0.514         0              90             0
  46  Drawer          -2.349         0.163          -0.514         0              90             0
  47  Drawer          -2.349         0.455          -0.514         0              90             0
  48  Blinds          -0.800         2.087          -3.627         0              0              0
  49  Blinds          2.931          2.166          -1.0           0              270            0
  50  Chair           2.574          0.002          -2.881         0              175.162        0
  51  NorthWall
  52  EastWall
  53  SouthWall
  54  WestWall

Plan:
STEP 1: turn left and walk to the garbage can next to the desk | STEP 2: pick up the pencil from the garbage can | STEP 3: look up turn right and walk to the bed side table in the corner of the room | STEP 4: place the pencil into the black mug | STEP 5: pick up the black mug with the pencil in it | STEP 6: turn right ninety degrees and then walk to the desk | STEP 7: place the black mug with a pencil in it on to the desk next to the note pad | END