Task: Place a mug with a pencil on a wooden 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          1.5            0              180            0
   1  Mug             -2.484         0.679          -2.917         0              90             0              35
   2  CellPhone       -2.484         0.680          -3.072         0              90             0              35
   3  CreditCard      -2.476         0.374          -2.978         0              270            0              36
   4  KeyChain        2.747          0.371          1.342          0              0              0              39
   5  AlarmClock      2.732          1.232          1.511          0              270            0              40
   6  Book            1.858          0.079          -3.139         0              90             0              32
   7  CreditCard      2.728          0.896          -2.975         0              0              0              33
   8  Pen             -2.530         0.686          -3.149         0              90             0              35
   9  Pencil          1.344          0.024          -3.375         0              0              0              24
  10  TeddyBear       -0.667         0.612          -1.364         0              81.467         0              20
  11  Laptop          -1.31          0.612          -1.542         0              0              0              20
  12  AlarmClock      2.039          0.900          -3.182         0              0              0              33
  13  CellPhone       2.706          1.249          1.767          0              0              0              29
  14  KeyChain        -2.530         0.681          -3.382         0              90             0              35
  15  Pillow          -2.124         0.658          -1.522         0              28.296         0              20
  16  Pillow          -1.308         0.680          -2.061         0              0              0              20
  17  CD              -2.405         0.373          -3.149         0              270            0              36
  18  Mug             -2.530         0.679          -3.227         0              90             0              35
  19  Bowl            2.556          0.898          -3.251         0              0              0              33
  20  Bed             -1.613         -0.028         -1.861         0              270            0
  21  DeskLamp        2.760          0.890          -3.317         0              90             0
  22  DeskLamp        -2.459         0.668          -0.532         0              90             0
  23  LightSwitch     -0.700         1.016          0.334          0              90             0
  24  GarbageCan      1.343          1.087          -3.374         0              0              0
  25  Mirror          0.532          1.419          2.0            0              0              0
  26  Window          -0.834         1.394          -3.653         90             0              0
  27  Window          2.958          1.508          -1.019         90             270            0
  28  Sofa            2.383          0.008          -0.288         0              270            0
  29  Safe            2.721          1.228          1.784          0              270            0
  30  Drawer          1.979          0.486          -2.988         0              0              0
  31  Drawer          1.979          0.728          -2.988         0              0              0
  32  Drawer          1.979          0.208          -2.988         0              0              0
  33  Desk            2.318          -0.009         -3.214         0              0              0
  34  Drawer          -2.349         0.163          -3.150         0              90             0
  35  SideTable       -2.416         -0.001         -3.149         0              90             0
  36  Drawer          -2.349         0.455          -3.150         0              90             0
  37  Drawer          2.641          0.172          1.511          0              270            0
  38  Drawer          2.641          1.002          1.511          0              270            0
  39  Drawer          2.641          0.448          1.511          0              270            0
  40  Dresser         2.676          0.002          1.511          0              270            0
  41  Drawer          2.641          0.725          1.511          0              270            0
  42  SideTable       -2.416         -0.001         -0.514         0              90             0
  43  Drawer          -2.349         0.163          -0.514         0              90             0
  44  Drawer          -2.349         0.455          -0.514         0              90             0
  45  Blinds          -0.800         2.087          -3.627         0              0              0
  46  Blinds          2.931          2.166          -1.0           0              270            0
  47  Chair           2.574          0.002          -2.881         0              175.162        0
  48  NorthWall
  49  EastWall
  50  SouthWall
  51  WestWall

Plan:
STEP 1: Turn left, hang a right at the couch, and walk to the silver container on the floor across the room. | STEP 2: Pick up the pencil from inside the silver container. | STEP 3: Turn right and head past the window to the side table next to the bed. | STEP 4: Place the pencil inside the black mug in between the keys and the cell phone. | STEP 5: Pick up the mug with the pencil inside. | STEP 6: Turn around, hang a left at the end of the bed and walk to the wooden desk on your right. | STEP 7: Place the mug in front of the clock on top of the desk. | END