Task: Put the mug with a pencil on the top of the drawer

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.25           0.901          2.0            0              0              0
   1  Mug             -1.603         0.661          1.401          0              0              0              43
   2  Pen             2.644          0.990          0.155          0              180            0              31
   3  Pencil          1.352          0.027          -1.717         0              0              0              28
   4  AlarmClock      2.907          0.987          1.860          0              180            0              31
   5  AlarmClock      2.907          0.987          1.576          0              180            0              31
   6  Laptop          -0.448         0.691          0.559          0              0              0              23
   7  Book            2.914          0.981          0.798          0              287.688        0              31
   8  KeyChain        -1.558         0.664          -1.405         0              0              0              41
   9  Laptop          -0.984         0.691          -0.109         0              0              0              23
  10  Cloth           1.763          0.000          -1.732         0              70.590         0
  11  CreditCard      2.557          0.988          0.439          0              180            0              31
  12  Pen             -1.558         0.668          1.634          0              0              0              43
  13  Pencil          -1.603         0.667          -1.017         0              0              0              41
  14  BaseballBat     3.076          0.629          -1.762         0              0              338.300
  15  AlarmClock      2.644          0.987          0.723          0              270            0              31
  16  BaseballBat     0.808          0.05           2.151          0              0              270
  17  Pillow          -1.373         0.754          -0.204         0              255.000        0              23
  18  Pillow          -1.457         0.754          0.494          0              285.000        0              23
  19  CellPhone       2.600          0.449          -0.721         0              119.999        0              44
  20  CD              -1.562         0.356          -1.363         0              0              0              42
  21  Mug             -1.692         0.661          -1.405         0              0              0              41
  22  Curtains        -0.020         2.923          -1.853         0              0              0
  23  Bed             -0.750         -0.018         0.113          1.247          270            0
  24  LightSwitch     1.317          1.297          2.197          0              180            0
  25  DeskLamp        -1.618         0.669          1.486          0              0              0
  26  DeskLamp        -1.631         0.669          -1.308         0              0              0
  27  Painting        1.524          1.516          -1.853         90             0              0
  28  GarbageCan      1.352          0.000          -1.685         0              0              0
  29  Mirror          0.575          1.351          2.197          0              0              0
  30  Window          -0.013         1.687          -1.919         90             0              0
  31  Dresser         2.819          0.000          1.008          0              270            0
  32  Drawer          2.572          0.901          1.784          0              270            0
  33  Cabinet         2.484          0.499          1.014          0              270            0
  34  Cabinet         2.484          0.499          0.999          0              270            0
  35  Drawer          2.572          0.901          1.263          0              270            0
  36  Drawer          2.572          0.901          0.748          0              270            0
  37  Cabinet         2.484          0.499          -0.019         0              270            0
  38  Drawer          2.572          0.901          0.230          0              270            0
  39  Cabinet         2.484          0.499          2.033          0              270            0
  40  Drawer          -1.533         0.459          1.478          0              90             0
  41  SideTable       -1.599         0.001          -1.249         0              90             0
  42  Drawer          -1.533         0.459          -1.250         0              90             0
  43  SideTable       -1.599         0.001          1.479          0              90             0
  44  ArmChair        2.574          0.002          -0.817         0              299.998        0
  45  Shelf           -1.552         0.040          -1.400         0              90             0
  46  Shelf           -1.552         0.040          -1.133         0              90             0
  47  Shelf           -1.552         0.040          1.328          0              90             0
  48  Shelf           -1.552         0.040          1.595          0              90             0
  49  NorthWall
  50  EastWall
  51  SouthWall
  52  WestWall

Plan:
STEP 1: Turn to your left then to your then left again, walk straight, then turn to your right head to the side table | STEP 2: Pick up the pencil beside the lamp on the table | STEP 3: Turn around to your left, past the bed then turn left, walk to you the other side of the bed  | STEP 4: Put the pencil in the mug under the lamp | STEP 5: Pick up the mug under the lamp on the table | STEP 6: Turn around to your right then walk across the room, then stop in front of the drawer | STEP 7: Put the mug on the top of the drawer | END