Task: Put 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          1.5            0              90             0
   1  Mug             -1.469         0.661          -1.094         0              0              0              44
   2  Mug             2.601          0.178          0.227          0              180            0              40
   3  Mug             -1.469         0.661          -1.25          0              0              0              44
   4  CD              2.466          0.448          -1.085         0              119.999        0              47
   5  CellPhone       2.644          0.985          1.007          0              180            0              34
   6  CellPhone       -1.469         0.663          1.556          0              0              0              46
   7  Pen             2.820          0.993          0.439          0              180            0              34
   8  CreditCard      -1.648         0.662          -1.405         0              0              0              44
   9  CreditCard      2.555          0.885          0.284          0              180            0              41
  10  Book            -0.984         0.693          0.113          0              0              0              26
  11  KeyChain        2.495          0.450          -0.770         0              119.999        0              47
  12  Laptop          2.907          0.983          0.155          0              180            0              34
  13  Cloth           1.763          0.000          -1.732         0              70.590         0
  14  CreditCard      2.561          0.449          -0.919         0              119.999        0              47
  15  Pen             -1.603         0.668          1.634          0              0              0              46
  16  Pencil          -1.648         0.667          -1.094         0              0              0              44
  17  BaseballBat     3.076          0.629          -1.762         0              0              338.300
  18  AlarmClock      2.819          0.987          1.292          0              180            0              34
  19  BaseballBat     0.808          0.05           2.151          0              0              270
  20  Pillow          -0.716         0.779          -0.555         0              0              0              26
  21  Pillow          -1.457         0.754          0.494          0              285.000        0              26
  22  CellPhone       2.524          0.449          -0.456         0              119.999        0              47
  23  CD              1.352          0.022          -1.620         0              0              0              31
  24  Mug             2.875          0.178          1.448          0              270            0              42
  25  Curtains        -0.020         2.923          -1.853         0              0              0
  26  Bed             -0.750         -0.018         0.113          1.247          270            0
  27  LightSwitch     1.317          1.297          2.197          0              180            0
  28  DeskLamp        -1.618         0.669          1.486          0              0              0
  29  DeskLamp        -1.631         0.669          -1.308         0              0              0
  30  Painting        1.524          1.516          -1.853         90             0              0
  31  GarbageCan      1.352          0.000          -1.685         0              0              0
  32  Mirror          0.575          1.351          2.197          0              0              0
  33  Window          -0.013         1.687          -1.919         90             0              0
  34  Dresser         2.819          0.000          1.008          0              270            0
  35  Drawer          2.572          0.901          1.784          0              270            0
  36  Cabinet         2.484          0.499          1.014          0              270            0
  37  Cabinet         2.484          0.499          0.999          0              270            0
  38  Drawer          2.572          0.901          1.263          0              270            0
  39  Drawer          2.572          0.901          0.748          0              270            0
  40  Cabinet         2.484          0.499          -0.019         0              270            0
  41  Drawer          2.572          0.901          0.230          0              270            0
  42  Cabinet         2.484          0.499          2.033          0              270            0
  43  Drawer          -1.533         0.459          1.478          0              90             0
  44  SideTable       -1.599         0.001          -1.249         0              90             0
  45  Drawer          -1.533         0.459          -1.250         0              90             0
  46  SideTable       -1.599         0.001          1.479          0              90             0
  47  ArmChair        2.574          0.002          -0.817         0              299.998        0
  48  Shelf           -1.552         0.040          -1.400         0              90             0
  49  Shelf           -1.552         0.040          -1.133         0              90             0
  50  Shelf           -1.552         0.040          1.328          0              90             0
  51  Shelf           -1.552         0.040          1.595          0              90             0
  52  NorthWall
  53  EastWall
  54  SouthWall
  55  WestWall

Plan:
STEP 1: Take a half step forward then turn right and walk to the wall then turn right and walk to the nightstand. | STEP 2: Grab the pencil on the nightstand to the right of the light. | STEP 3: Put the pencil in the mug that's to the left of another mug on the nightstand. | STEP 4: Pick up the mug with the pencil in it. | STEP 5: Turn around and walk to the chair then turn left and walk until you are even with the laptop on the desk to your right then turn right and walk to it. | STEP 6: Put the mug on the edge of the desk. | END