Task: Put a mug with a pencil in it on a desk.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.901          -1.0           0              90             0
   1  Mug             -0.455         0.063          2.452          0              0              0              27
   2  CellPhone       -0.685         0.286          2.877          0              0              0              39
   3  CellPhone       1.841          0.441          1.883          0              180            0              55
   4  KeyChain        1.715          0.106          -0.731         0              90             0              48
   5  KeyChain        -0.574         0.669          2.815          0              90             0              38
   6  Book            -0.513         0.681          1.431          0              90             0              28
   7  Box             -0.493         0.2            -0.286         0              84.024         0
   8  TennisRacket    -1.345         0.288          0.233          30.000         270            180
   9  Pen             -0.667         0.674          3.162          0              90             0              38
  10  AlarmClock      -0.480         0.669          2.728          0              90             0              38
  11  Pillow          -0.63          1.871          3.047          0              0              0              47
  12  Pillow          -0.829         1.549          -1.533         0              0              0              42
  13  CellPhone       -0.844         1.839          2.197          0              0              0              47
  14  KeyChain        1.502          0.433          1.883          0              180            0              55
  15  CreditCard      2.100          0.726          0.482          0              270            0              52
  16  CD              1.905          0.726          -0.256         0              270            0              52
  17  Pencil          -0.855         0.672          2.902          0              90             0              38
  18  Laptop          -0.513         0.675          2.177          0              90             0              28
  19  Mug             -0.761         0.666          3.075          0              90             0              38
  20  DeskLamp        2.016          0.701          0.708          0              0              0
  21  Painting        2.199          1.771          -0.101         90             270            0
  22  GarbageCan      2.022          -0.037         -1.239         0              270            0
  23  Mirror          2.229          1.254          2.664          0              90             0
  24  LightSwitch     2.199          1.258          1.988          0              270            0
  25  Window          1.575          1.559          -1.953         90             180            0
  26  Drawer          -0.551         0.578          2.246          0              90             0
  27  Cabinet         -0.649         0.270          2.247          0              90             0
  28  Desk            -0.655         0.006          1.814          0              90             0
  29  Shelf           1.769          0.184          0.757          0              270            0
  30  Shelf           1.769          0.572          0.757          0              270            0
  31  Shelf           1.769          0.572          0.935          0              270            0
  32  Shelf           1.769          0.378          0.935          0              270            0
  33  Shelf           1.769          0.378          0.757          0              270            0
  34  Shelf           1.769          0.184          0.935          0              270            0
  35  Blinds          1.547          2.434          -1.886         0              0              0
  36  Drawer          -0.553         0.155          2.942          0              90             0
  37  Drawer          -0.553         0.572          2.942          0              90             0
  38  Dresser         -0.665         0.001          2.939          0              90             0
  39  Drawer          -0.553         0.376          2.942          0              90             0
  40  Chair           1.482          0.012          0.223          0              77.085         0
  41  Chair           -0.199         0.012          1.538          0              287.086        0
  42  Bed             -0.866         0.007          -0.919         0              0              0
  43  Dresser         -0.772         0.001          -1.313         0              90             0
  44  Drawer          -0.660         0.830          -1.309         0              90             0
  45  Drawer          -0.660         0.225          -1.309         0              90             0
  46  Drawer          -0.660         0.547          -1.309         0              90             0
  47  Bed             -0.872         1.637          2.188          0              0              0
  48  Drawer          1.685          0.160          -0.805         0              270            0
  49  Drawer          1.685          0.160          -0.378         0              270            0
  50  Drawer          1.685          0.547          -0.805         0              270            0
  51  Drawer          1.685          0.547          -0.378         0              270            0
  52  Desk            1.812          0.003          -0.014         0              270            0
  53  Drawer          1.685          0.354          -0.805         0              270            0
  54  Drawer          1.685          0.354          -0.378         0              270            0
  55  ArmChair        1.712          -0.000         1.532          0              270            0
  56  NorthWall
  57  EastWall
  58  SouthWall
  59  WestWall

Plan:
STEP 1: Turn left and walk to the desk containing the laptop. | STEP 2: Pick up the pencil which is on the desk to the left. | STEP 3: Put the pencil in the mug. | STEP 4: Pick up the mug from the desk. | STEP 5: Turn around and walk to the left side of the desk. | STEP 6: Put the mug on the desk, to the left of the laptop. | END