Task: Put the mug with pencil on the cabinet

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.0            0.900          0.5            0              90             0
   1  Mug             1.510          1.409          0.779          0              90             0              38
   2  Mug             0.494          0.701          -1.326         0              180            0              46
   3  TissueBox       1.480          0.490          -0.534         0              270            0              39
   4  CD              0.494          0.701          -1.619         0              180            0              46
   5  CD              1.603          0.487          -0.394         0              270            0              39
   6  CellPhone       0.018          0.293          -1.532         0              180            0              45
   7  Pen             1.591          1.417          0.264          0              270            0              38
   8  CreditCard      0.341          0.496          -1.319         0              180            0              47
   9  Book            -1.630         0.527          -0.814         0              0              0              29
  10  KeyChain        1.511          0.489          -0.254         0              270            0              39
  11  Laptop          -1.630         0.525          -0.082         0              0              0              29
  12  Box             1.537          1.652          0.692          0              0              0              32
  13  Book            0.387          0.497          -1.532         0              180            0              47
  14  AlarmClock      0.741          0.704          -1.326         0              180            0              46
  15  CellPhone       0.387          0.085          -1.585         0              180            0              42
  16  TissueBox       1.527          0.696          -1.639         0              306.178        0              46
  17  TeddyBear       -2.204         0.500          0.181          355.000        297.467        9.162          29
  18  CreditCard      -0.028         0.081          -1.532         0              180            0              43
  19  KeyChain        1.479          0.702          -1.326         0              180            0              46
  20  BaseballBat     -2.202         0.04           -1.343         0              45             90             Floor|+00.00|
  21  TennisRacket    -2.254         0.324          -1.806         15.000         180            180            Floor|+00.00|
  22  Pillow          -2.039         0.545          0.677          0              0              0              29
  23  Laptop          0.037          0.694          -1.459         0              348.828        0              46
  24  CD              1.233          0.703          -1.521         0              180            0              46
  25  Pen             -0.606         0.057          0.8            0              0              0              31
  26  Pencil          1.600          0.712          -0.544         0              0              0              38
  27  Mug             0.494          0.701          -1.814         0              180            0              46
  28  Mirror          -0.689         1.495          0.954          0              0              0
  29  Bed             -1.742         0.000          -0.071         0              0              0
  30  Chair           0.891          -0.001         -1.251         0              175.104        0
  31  GarbageCan      -0.606         -0.021         0.799          0              0              0
  32  ShelvingUnit    1.550          1.402          0.374          0              270            0
  33  Painting        -2.401         1.700          -0.859         90             90             0
  34  DeskLamp        1.291          0.699          -1.717         0              0              0
  35  LightSwitch     0.231          1.287          0.954          0              180            0
  36  HousePlant      1.488          1.394          0.035          0              122.291        0
  37  Window          0.046          1.559          -2.079         90             180            0
  38  SideTable       1.561          0.000          -0.465         0              270            0
  39  Shelf           1.541          0.493          -0.475         0              270            0
  40  Blinds          0.007          2.152          -2.014         0              0              0
  41  Drawer          -0.156         0.547          -1.430         0              0              0
  42  Drawer          0.270          0.159          -1.430         0              0              0
  43  Drawer          -0.156         0.159          -1.430         0              0              0
  44  Drawer          0.270          0.353          -1.430         0              0              0
  45  Drawer          -0.156         0.353          -1.430         0              0              0
  46  Desk            0.634          0.002          -1.557         0              0              0
  47  Drawer          0.270          0.547          -1.430         0              0              0
  48  Shelf           1.406          0.571          -1.514         0              0              0
  49  Shelf           1.406          0.183          -1.514         0              0              0
  50  Shelf           1.584          0.183          -1.514         0              0              0
  51  Shelf           1.406          0.377          -1.514         0              0              0
  52  Shelf           1.584          0.377          -1.514         0              0              0
  53  Shelf           1.584          0.571          -1.514         0              0              0
  54  NorthWall
  55  EastWall
  56  SouthWall
  57  WestWall

Plan:
STEP 1: Turn right walk forward then face the cabinet on your left | STEP 2: Pickup the pencil on the cabinet | STEP 3: Turn right move closely then face the desk on your left  | STEP 4: Put the pencil in the mug | STEP 5: Pick up the mug on the desk | STEP 6:  Turn left then move forward then face the cabinet on your right | STEP 7: Put the mug with pencil on the left side of the cabinet | END