Task: Put a mug with pencil in it on the small dresser.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.900          0.75           0              180            0
   1  Mug             1.220          0.727          1.396          0              0              0              40
   2  Mug             0.255          0.688          -1.616         0              0              0              42
   3  CD              1.278          1.138          1.246          0              270            0              37
   4  CD              -0.095         0.692          -1.616         0              0              0              42
   5  CellPhone       0.579          0.782          -0.166         0              0              0              29
   6  KeyChain        0.164          0.389          -1.687         0              90             0              44
   7  Pillow          1.205          0.849          -0.988         0              0              0              29
   8  AlarmClock      1.084          0.729          0.901          0              0              0              40
   9  Book            1.145          0.721          1.806          0              0              0              39
  10  Box             -1.233         0.263          -1.435         0              312.675        0
  11  CellPhone       1.288          0.732          1.562          0              0              0              40
  12  BaseballBat     -1.717         0.708          -0.677         0              0              12.045
  13  Bowl            1.353          0.721          0.891          0              0              0              40
  14  BasketBall      -1.64          0.127          -1.652         0              0              0
  15  Laptop          0.955          0.776          -0.166         0              0              0              29
  16  CreditCard      -0.352         0.388          -1.593         0              0              0              44
  17  KeyChain        0.255          0.694          -1.838         0              90             0              42
  18  AlarmClock      1.152          0.729          1.231          0              0              0              40
  19  Pencil          -0.095         0.693          -1.749         0              0              0              42
  20  Pillow          0.872          0.816          -1.513         0              0              0              29
  21  CD              0.021          0.689          -1.705         0              0              0              42
  22  Pen             -0.213         0.695          -1.838         0              0              0              42
  23  Mug             1.278          1.136          1.402          0              270            0              37
  24  Poster          0.978          1.970          -1.868         90             0              0
  25  Mirror          -0.884         1.350          2.086          0              0              0
  26  Poster          1.483          1.978          -1.210         90             270            0
  27  Poster          1.483          1.503          -0.128         90             270            0
  28  Poster          1.483          2.138          -0.128         90             270            0
  29  Bed             0.955          0.002          -0.722         0              0              0
  30  GarbageCan      1.133          0.032          0.581          0              0              0
  31  DeskLamp        -0.396         0.664          -1.666         0              315            0
  32  LightSwitch     0.554          1.154          2.079          0              180            0
  33  Window          -0.174         1.006          -2.009         90             0              0
  34  LaundryHamper   -1.425         0.006          1.676          0              149.999        0
  35  Chair           1.127          -8.434         1.053          0              90             0
  36  Blinds          -0.145         1.679          -1.986         0              0              0
  37  Shelf           1.316          1.174          1.388          0              270            0
  38  Drawer          1.099          0.167          1.724          0              270            0
  39  Drawer          1.099          0.622          1.724          0              270            0
  40  Desk            1.189          0.002          1.384          0              270            0
  41  Drawer          1.099          0.408          1.724          0              270            0
  42  SideTable       -0.103         -0.000         -1.691         0              0              0
  43  Drawer          -0.104         0.157          -1.618         0              0              0
  44  Drawer          -0.104         0.456          -1.618         0              0              0
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: Move to the small dresser on the right side of the bed with a lamp on it. | STEP 2: Pick up the yellow pencil on the small dresser.  | STEP 3: Turn around, bring the pencil to the desk on the right.  | STEP 4: Put the pencil in the bowl on the desk. | STEP 5: Pick up the bowl with pencil on the desk.  | STEP 6: Bring the bowl back to the small dress to the right, on the right side of the bed. | STEP 7: Put the bowl with pencil on the dresser, left of the lamp.  | END