Task: Pick up pencil, move it to coffee mug, place both on book case

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          0.901          0.0            0              270            0
   1  Vase            0.191          0.729          -2.764         0              180            0              39
   2  Vase            0.421          0.729          -2.588         0              180            0              39
   3  Pencil          -1.864         0.512          -1.232         0              0              0              48
   4  CreditCard      1.447          0.054          -2.282         0              0              0              55
   5  CreditCard      -1.515         0.599          -0.250         0              0              0              46
   6  KeyChain        0.651          0.729          -2.471         0              0              0              39
   7  Book            -0.794         0.418          -2.100         0              0              0              45
   8  Box             1.996          0.316          -1.042         0              254.839        0
   9  Book            -0.333         0.418          -1.733         0              0              0              45
  10  Pillow          -1.548         0.457          -1.831         0              90             0              45
  11  CellPhone       0.269          0.414          -2.550         0              0              0              41
  12  Vase            -1.846         0.599          -0.533         0              0              0              46
  13  BaseballBat     -1.629         0.649          0.416          14.491         0              0
  14  CreditCard      0.450          0.113          -2.606         0              0              0              40
  15  TennisRacket    2.244          0.279          -1.901         335.402        251.974        201.714
  16  KeyChain        -1.718         0.509          -1.274         0              0              0              48
  17  AlarmClock      0.766          0.730          -2.705         0              180            0              39
  18  Cloth           2.176          0.0            -0.571         0              335.474        0
  19  Laptop          -1.764         0.591          -0.112         0              113.510        0              46
  20  CD              1.130          0.355          -2.303         0              0              0              56
  21  CD              0.541          0.112          -2.521         0              0              0              40
  22  Pen             1.257          0.060          -2.261         0              0              0              55
  23  Pencil          1.320          0.359          -2.240         0              0              0              56
  24  Mug             0.421          0.726          -2.764         0              180            0              39
  25  Shelf           1.311          0.969          -2.298         0              0              0
  26  Shelf           1.843          0.969          -2.298         0              0              0
  27  Shelf           1.311          1.171          -2.298         0              0              0
  28  Shelf           1.843          1.171          -2.298         0              0              0
  29  Shelf           1.311          1.368          -2.298         0              0              0
  30  Shelf           1.843          1.570          -2.298         0              0              0
  31  Shelf           1.843          1.368          -2.298         0              0              0
  32  Shelf           1.311          1.570          -2.298         0              0              0
  33  DeskLamp        -1.848         0.592          -0.786         0              90             0
  34  GarbageCan      2.197          -0.007         0.298          0              232.025        0
  35  LightSwitch     -0.638         1.149          0.499          0              180            0
  36  Poster          0.001          1.495          -2.642         90             90             0
  37  Mirror          -1.072         1.469          0.497          0              0              0
  38  Window          0.435          1.398          -2.855         90             0              0
  39  SideTable       0.435          0.036          -2.647         0              0              0
  40  Drawer          0.433          0.203          -2.445         0              0              0
  41  Drawer          0.433          0.505          -2.445         0              0              0
  42  Dumbbell        -1.656         0.602          -0.534         0              90             0
  43  Blinds          0.449          2.164          -2.845         0              0              0
  44  GarbageBag      1.730          0.318          0.222          270            90             83.412
  45  Bed             -1.047         -0.000         -1.851         0              270            0
  46  Desk            -1.710         0.000          -0.374         0              90             0
  47  Drawer          -1.790         0.245          -1.144         0              90             0
  48  SideTable       -1.824         0.000          -1.144         0              90             0
  49  Drawer          -1.790         0.392          -1.144         0              90             0
  50  Drawer          -1.790         0.097          -1.144         0              90             0
  51  Chair           -1.453         0.005          -0.311         0              286.095        0
  52  Shelf           1.591          0.606          -2.305         0              0              0
  53  ShelvingUnit    1.588          0.004          -2.326         0              0              0
  54  Shelf           1.854          0.453          -2.298         0              0              0
  55  Shelf           1.321          0.155          -2.296         0              0              0
  56  Shelf           1.323          0.456          -2.300         0              0              0
  57  Shelf           1.852          0.152          -2.294         0              0              0
  58  NorthWall
  59  EastWall
  60  SouthWall
  61  WestWall

Plan:
STEP 1: Turn around, walk to wall, turn right, walk to book case | STEP 2: Pick up pencil from book case | STEP 3: Turn right, walk to bed, turn left | STEP 4: Put pencil in coffee mug on table | STEP 5: Pick up coffee mug with pencil inside off of table | STEP 6: Turn around, walk forward, turn right, walk forward, turn right at book case | STEP 7: Put coffee mug with pencil inside on book case | END