Task: put a mug with a pencil on to the dresser

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.901          0.25           0              0              0
   1  CD              1.807          0.726          -0.010         0              270            0              58
   2  CellPhone       -0.423         0.679          1.991          0              90             0              34
   3  CellPhone       -0.761         0.670          3.249          0              90             0              44
   4  Pen             -0.703         0.422          -1.486         0              0              0              52
   5  Pencil          -0.761         0.672          3.075          0              90             0              44
   6  Pencil          -0.423         0.681          1.245          0              90             0              34
   7  CreditCard      -0.513         0.677          1.618          0              90             0              34
   8  CreditCard      1.672          0.451          1.605          0              180            0              61
   9  KeyChain        -0.848         0.737          -1.154         0              90             0              50
  10  Book            1.710          0.729          -0.256         0              270            0              58
  11  Laptop          -0.596         1.498          -0.719         0              0              0              48
  12  Book            -0.855         0.672          2.815          0              90             0              44
  13  Box             -0.493         0.2            -0.286         0              84.024         0
  14  TennisRacket    -1.345         0.288          0.233          30.000         270            180
  15  Pen             2.003          0.732          -0.502         0              270            0              58
  16  AlarmClock      -0.626         0.979          -1.322         0              0              0              49
  17  Pillow          -0.63          1.871          3.047          0              0              0              53
  18  Pillow          -0.632         1.922          2.481          0              0              0              53
  19  CellPhone       1.710          0.728          0.728          0              270            0              58
  20  KeyChain        -0.626         0.978          -1.416         0              0              0              49
  21  CreditCard      -0.386         0.669          3.162          0              90             0              44
  22  CD              -0.480         0.668          2.728          0              90             0              44
  23  Pencil          -0.668         0.982          -1.134         0              0              0              49
  24  Laptop          -0.632         1.835          1.631          0              0              0              53
  25  Mug             2.100          0.724          -0.010         0              270            0              58
  26  DeskLamp        2.016          0.701          0.708          0              0              0
  27  Painting        2.199          1.771          -0.101         90             270            0
  28  GarbageCan      2.022          -0.037         -1.239         0              270            0
  29  Mirror          2.229          1.254          2.664          0              90             0
  30  LightSwitch     2.199          1.258          1.988          0              270            0
  31  Window          1.575          1.559          -1.953         90             180            0
  32  Drawer          -0.551         0.578          2.246          0              90             0
  33  Cabinet         -0.649         0.270          2.247          0              90             0
  34  Desk            -0.655         0.006          1.814          0              90             0
  35  Shelf           1.769          0.184          0.757          0              270            0
  36  Shelf           1.769          0.572          0.757          0              270            0
  37  Shelf           1.769          0.572          0.935          0              270            0
  38  Shelf           1.769          0.378          0.935          0              270            0
  39  Shelf           1.769          0.378          0.757          0              270            0
  40  Shelf           1.769          0.184          0.935          0              270            0
  41  Blinds          1.547          2.434          -1.886         0              0              0
  42  Drawer          -0.553         0.155          2.942          0              90             0
  43  Drawer          -0.553         0.572          2.942          0              90             0
  44  Dresser         -0.665         0.001          2.939          0              90             0
  45  Drawer          -0.553         0.376          2.942          0              90             0
  46  Chair           1.482          0.012          0.223          0              77.085         0
  47  Chair           -0.199         0.012          1.538          0              287.086        0
  48  Bed             -0.866         0.007          -0.919         0              0              0
  49  Dresser         -0.772         0.001          -1.313         0              90             0
  50  Drawer          -0.660         0.830          -1.309         0              90             0
  51  Drawer          -0.660         0.225          -1.309         0              90             0
  52  Drawer          -0.660         0.547          -1.309         0              90             0
  53  Bed             -0.872         1.637          2.188          0              0              0
  54  Drawer          1.685          0.160          -0.805         0              270            0
  55  Drawer          1.685          0.160          -0.378         0              270            0
  56  Drawer          1.685          0.547          -0.805         0              270            0
  57  Drawer          1.685          0.547          -0.378         0              270            0
  58  Desk            1.812          0.003          -0.014         0              270            0
  59  Drawer          1.685          0.354          -0.805         0              270            0
  60  Drawer          1.685          0.354          -0.378         0              270            0
  61  ArmChair        1.712          -0.000         1.532          0              270            0
  62  NorthWall
  63  EastWall
  64  SouthWall
  65  WestWall

Plan:
STEP 1: turn around and move forward to the right side of the desk | STEP 2: pick up the blue pencil that is on the right side of the desk near the back | STEP 3: move slightly to the left, still facing the desk | STEP 4: put the pencil into the white coffee mug sitting on the back of the desk | STEP 5: pick up the mug with the pencil inside of it | STEP 6: turn around and move to the dresser that is under the bunk bed | STEP 7: put the mug with the pencil inside of it on the right front corner of the dresser | END