Task: Place a mug with two pencils onto 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           0.5            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 and approach the cabinets, stopping before you reach the couch. Turn right, and cross the room in front of the couch to the trashcan on the far side of the room | STEP 2: take the yellow pencil from the trashcan | STEP 3: turn right and cross the room to the bedside table | STEP 4: place the pencil in the mug with the red pencil on the bedside table | STEP 5: take the mug from the bedside table | STEP 6: turn around and cross the room to the desk. Stop in front of the chair, and turn right to face the desk. | STEP 7: place the mug with the pencils on the desk, spilling the red pencil onto the desk as you do so. | END