Task: Put a pencil in a mug to place 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           0.900          -0.5           0              270            0
   1  CellPhone       -1.923         0.530          -0.326         0              0              0              24
   2  Pencil          0.987          0.707          -1.326         0              180            0              41
   3  CreditCard      0.248          0.497          -1.319         0              180            0              42
   4  CreditCard      1.486          0.708          -0.623         0              0              0              33
   5  Book            -1.483         0.527          0.404          0              0              0              24
   6  Pillow          -1.777         0.598          -0.814         0              0              0              24
   7  Box             1.537          1.652          0.692          0              0              0              27
   8  Book            0.708          0.696          -1.612         0              165.000        0              41
   9  AlarmClock      1.541          0.489          -0.675         0              270            0              34
  10  CellPhone       1.541          0.491          -0.534         0              270            0              34
  11  TissueBox       1.527          0.696          -1.639         0              306.178        0              41
  12  TeddyBear       -2.204         0.500          0.181          355.000        297.467        9.162          24
  13  CreditCard      0.295          0.289          -1.479         0              180            0              39
  14  KeyChain        1.671          1.412          0.393          0              270            0              33
  15  BaseballBat     -2.202         0.04           -1.343         0              45             90             Floor|+00.00|
  16  TennisRacket    -2.254         0.324          -1.806         15.000         180            180            Floor|+00.00|
  17  Pillow          -1.630         0.598          -0.326         0              0              0              24
  18  Laptop          0.037          0.694          -1.459         0              348.828        0              41
  19  CD              1.541          0.487          -0.394         0              270            0              34
  20  Pen             1.600          0.714          -0.306         0              0              0              33
  21  Pencil          1.429          1.415          0.393          0              270            0              33
  22  Mug             1.638          0.706          -0.703         0              0              0              33
  23  Mirror          -0.689         1.495          0.954          0              0              0
  24  Bed             -1.742         0.000          -0.071         0              0              0
  25  Chair           0.891          -0.001         -1.251         0              175.104        0
  26  GarbageCan      -0.606         -0.021         0.799          0              0              0
  27  ShelvingUnit    1.550          1.402          0.374          0              270            0
  28  Painting        -2.401         1.700          -0.859         90             90             0
  29  DeskLamp        1.291          0.699          -1.717         0              0              0
  30  LightSwitch     0.231          1.287          0.954          0              180            0
  31  HousePlant      1.488          1.394          0.035          0              122.291        0
  32  Window          0.046          1.559          -2.079         90             180            0
  33  SideTable       1.561          0.000          -0.465         0              270            0
  34  Shelf           1.541          0.493          -0.475         0              270            0
  35  Blinds          0.007          2.152          -2.014         0              0              0
  36  Drawer          -0.156         0.547          -1.430         0              0              0
  37  Drawer          0.270          0.159          -1.430         0              0              0
  38  Drawer          -0.156         0.159          -1.430         0              0              0
  39  Drawer          0.270          0.353          -1.430         0              0              0
  40  Drawer          -0.156         0.353          -1.430         0              0              0
  41  Desk            0.634          0.002          -1.557         0              0              0
  42  Drawer          0.270          0.547          -1.430         0              0              0
  43  Shelf           1.406          0.571          -1.514         0              0              0
  44  Shelf           1.406          0.183          -1.514         0              0              0
  45  Shelf           1.584          0.183          -1.514         0              0              0
  46  Shelf           1.406          0.377          -1.514         0              0              0
  47  Shelf           1.584          0.377          -1.514         0              0              0
  48  Shelf           1.584          0.571          -1.514         0              0              0
  49  NorthWall
  50  EastWall
  51  SouthWall
  52  WestWall

Plan:
STEP 1: Walk to the back of the chair for the computer desk. | STEP 2: Grab the pen from the desk. | STEP 3: Locate the nightstand to your left. | STEP 4: Place the pencil in the coffee mug. | STEP 5: Grab the mug from the night stand. | STEP 6: Turn around to the computer desk on your right. | STEP 7: Place the mug in front of the chair on the desk. | END