Task: Put the mug with pencil on 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          -1.0           0              0              0
   1  Mug             1.562          0.706          -0.703         0              0              0              39
   2  Mug             1.638          0.706          -0.226         0              0              0              39
   3  CD              0.387          0.080          -1.372         0              180            0              43
   4  CD              1.638          0.708          -0.385         0              0              0              39
   5  CellPhone       1.524          0.711          -0.544         0              0              0              39
   6  Pencil          0.018          0.293          -1.585         0              0              0              46
   7  CreditCard      0.295          0.081          -1.532         0              180            0              43
   8  CreditCard      1.671          1.411          0.264          0              270            0              39
   9  KeyChain        1.511          0.489          -0.324         0              270            0              40
  10  KeyChain        1.511          0.489          -0.464         0              270            0              40
  11  Box             0.002          0.953          -1.521         0              180            0              47
  12  AlarmClock      0.248          0.704          -1.716         0              180            0              47
  13  Box             1.537          1.652          0.692          0              0              0              33
  14  Book            -1.630         0.527          -0.814         0              0              0              30
  15  AlarmClock      1.233          0.702          -1.326         0              180            0              47
  16  CellPhone       0.248          0.707          -1.326         0              180            0              47
  17  TissueBox       1.527          0.696          -1.639         0              306.178        0              47
  18  TeddyBear       -2.204         0.500          0.181          355.000        297.467        9.162          30
  19  CreditCard      -0.027         0.289          -1.639         0              180            0              46
  20  KeyChain        -0.166         0.498          -1.425         0              180            0              42
  21  BaseballBat     -2.202         0.04           -1.343         0              45             90             Floor|+00.00|
  22  TennisRacket    -2.254         0.324          -1.806         15.000         180            180            Floor|+00.00|
  23  Pillow          -1.777         0.598          -0.326         0              0              0              30
  24  Laptop          -1.777         0.525          0.648          0              0              0              30
  25  CD              1.480          0.487          -0.675         0              270            0              40
  26  Pen             0.741          0.709          -1.423         0              180            0              47
  27  Pencil          1.550          1.415          0.264          0              180            0              39
  28  Mug             1.638          0.706          -0.544         0              0              0              39
  29  Mirror          -0.689         1.495          0.954          0              0              0
  30  Bed             -1.742         0.000          -0.071         0              0              0
  31  Chair           0.891          -0.001         -1.251         0              175.104        0
  32  GarbageCan      -0.606         -0.021         0.799          0              0              0
  33  ShelvingUnit    1.550          1.402          0.374          0              270            0
  34  Painting        -2.401         1.700          -0.859         90             90             0
  35  DeskLamp        1.291          0.699          -1.717         0              0              0
  36  LightSwitch     0.231          1.287          0.954          0              180            0
  37  HousePlant      1.488          1.394          0.035          0              122.291        0
  38  Window          0.046          1.559          -2.079         90             180            0
  39  SideTable       1.561          0.000          -0.465         0              270            0
  40  Shelf           1.541          0.493          -0.475         0              270            0
  41  Blinds          0.007          2.152          -2.014         0              0              0
  42  Drawer          -0.156         0.547          -1.430         0              0              0
  43  Drawer          0.270          0.159          -1.430         0              0              0
  44  Drawer          -0.156         0.159          -1.430         0              0              0
  45  Drawer          0.270          0.353          -1.430         0              0              0
  46  Drawer          -0.156         0.353          -1.430         0              0              0
  47  Desk            0.634          0.002          -1.557         0              0              0
  48  Drawer          0.270          0.547          -1.430         0              0              0
  49  Shelf           1.406          0.571          -1.514         0              0              0
  50  Shelf           1.406          0.183          -1.514         0              0              0
  51  Shelf           1.584          0.183          -1.514         0              0              0
  52  Shelf           1.406          0.377          -1.514         0              0              0
  53  Shelf           1.584          0.377          -1.514         0              0              0
  54  Shelf           1.584          0.571          -1.514         0              0              0
  55  NorthWall
  56  EastWall
  57  SouthWall
  58  WestWall

Plan:
STEP 1: walk forward then turn right head to the book shelf | STEP 2: Pick up the pencil on top of the book shelf | STEP 3: Turn right walk forward then turn left on the drawer | STEP 4: Put the pencil in the mug beside the cd at the drawer | STEP 5: Pick up the mug with pencil on the drawer | STEP 6: Turn right and face the desk  | STEP 7: Put the mug with pencil on the desk | END