Task: Place a mug with a pencil in it 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           0.901          -1.75          0              270            0
   1  Mug             1.788          1.176          -2.277         0              0              0              30
   2  Mug             0.076          0.726          -2.471         0              180            0              41
   3  Vase            1.787          0.356          -2.303         0              0              0              56
   4  CellPhone       -1.582         0.599          -0.109         0              0              0              48
   5  CellPhone       -1.846         0.599          -0.392         0              0              0              48
   6  Pen             -1.582         0.604          -0.533         0              0              0              48
   7  CreditCard      -1.714         0.599          0.031          0              0              0              48
   8  KeyChain        0.191          0.729          -2.647         0              0              0              41
   9  KeyChain        0.651          0.731          -2.471         0              180            0              41
  10  Box             1.996          0.316          -1.042         0              254.839        0
  11  Book            0.339          0.723          -2.65          0              165.000        0              41
  12  Pillow          -1.548         0.457          -1.831         0              90             0              47
  13  CellPhone       -1.515         0.599          -0.392         0              0              0              48
  14  Vase            -1.714         0.599          -0.109         0              0              0              48
  15  BaseballBat     -1.629         0.649          0.416          14.491         0              0
  16  CreditCard      0.191          0.728          -2.471         0              180            0              41
  17  TennisRacket    2.244          0.279          -1.901         335.402        251.974        201.714
  18  KeyChain        0.766          0.731          -2.471         0              180            0              41
  19  AlarmClock      0.766          0.730          -2.764         0              180            0              41
  20  Cloth           2.176          0.0            -0.571         0              335.474        0
  21  Laptop          -0.564         0.415          -1.855         0              0              0              47
  22  CD              -1.648         0.598          -0.675         0              0              0              48
  23  CD              -1.769         0.363          -1.222         0              0              0              51
  24  Pen             -1.648         0.604          0.031          0              0              0              48
  25  Pencil          -1.714         0.602          -0.675         0              0              0              48
  26  Mug             1.320          1.575          -2.298         0              0              0              34
  27  Shelf           1.311          0.969          -2.298         0              0              0
  28  Shelf           1.843          0.969          -2.298         0              0              0
  29  Shelf           1.311          1.171          -2.298         0              0              0
  30  Shelf           1.843          1.171          -2.298         0              0              0
  31  Shelf           1.311          1.368          -2.298         0              0              0
  32  Shelf           1.843          1.570          -2.298         0              0              0
  33  Shelf           1.843          1.368          -2.298         0              0              0
  34  Shelf           1.311          1.570          -2.298         0              0              0
  35  DeskLamp        -1.848         0.592          -0.786         0              90             0
  36  GarbageCan      2.197          -0.007         0.298          0              232.025        0
  37  LightSwitch     -0.638         1.149          0.499          0              180            0
  38  Poster          0.001          1.495          -2.642         90             90             0
  39  Mirror          -1.072         1.469          0.497          0              0              0
  40  Window          0.435          1.398          -2.855         90             0              0
  41  SideTable       0.435          0.036          -2.647         0              0              0
  42  Drawer          0.433          0.203          -2.445         0              0              0
  43  Drawer          0.433          0.505          -2.445         0              0              0
  44  Dumbbell        -1.656         0.602          -0.534         0              90             0
  45  Blinds          0.449          2.164          -2.845         0              0              0
  46  GarbageBag      1.730          0.318          0.222          270            90             83.412
  47  Bed             -1.047         -0.000         -1.851         0              270            0
  48  Desk            -1.710         0.000          -0.374         0              90             0
  49  Drawer          -1.790         0.245          -1.144         0              90             0
  50  SideTable       -1.824         0.000          -1.144         0              90             0
  51  Drawer          -1.790         0.392          -1.144         0              90             0
  52  Drawer          -1.790         0.097          -1.144         0              90             0
  53  Chair           -1.453         0.005          -0.311         0              286.095        0
  54  Shelf           1.591          0.606          -2.305         0              0              0
  55  ShelvingUnit    1.588          0.004          -2.326         0              0              0
  56  Shelf           1.854          0.453          -2.298         0              0              0
  57  Shelf           1.321          0.155          -2.296         0              0              0
  58  Shelf           1.323          0.456          -2.300         0              0              0
  59  Shelf           1.852          0.152          -2.294         0              0              0
  60  NorthWall
  61  EastWall
  62  SouthWall
  63  WestWall

Plan:
STEP 1: Turn right and walk past the bed and turn left to go stand in front of the stand to the right of the bed. | STEP 2: Pick up the pencil laying on top of the cd on the table to your right. | STEP 3: Turn around and walk until you hit the wall and then turn right and face the cabinet hanging on the wall. | STEP 4: Place the pencil in the white mug that's sitting on the second shelf of the cabinet on the wall. | STEP 5: Pick up the mug with the pencil in it. | STEP 6: Turn around and walk to the wall then turn left and walk to the desk. | STEP 7: Place the mug near the left corner of the desk top. | END