Task: Put the mug with pencil on the drawer

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.25           0.900          1.5            0              0              0
   1  Mug             -2.439         0.679          -2.995         0              90             0              40
   2  CD              -2.575         0.680          -0.359         0              90             0              47
   3  CellPhone       -2.575         0.673          -0.591         0              90             0              47
   4  Pen             2.544          1.234          1.626          0              90             0              45
   5  Pencil          2.544          1.232          1.397          0              270            0              45
   6  Pencil          2.039          0.901          -3.182         0              0              0              38
   7  Pencil          2.211          0.901          -3.044         0              0              0              38
   8  CreditCard      1.694          0.896          -3.113         0              0              0              38
   9  CreditCard      2.544          1.228          1.283          0              270            0              45
  10  KeyChain        2.735          1.249          1.708          0              90             0              34
  11  Book            2.262          0.356          -0.296         0              0              0              33
  12  CreditCard      2.638          1.228          1.283          0              270            0              45
  13  Pen             2.685          1.234          1.168          0              270            0              45
  14  Pencil          -2.439         0.685          -3.150         0              90             0              40
  15  TeddyBear       -0.667         0.612          -1.364         0              81.467         0              25
  16  Laptop          -1.874         0.617          -2.261         0              0              0              25
  17  AlarmClock      -2.575         0.684          -3.304         0              90             0              40
  18  CellPhone       2.410          0.307          0.373          0              0              0              33
  19  KeyChain        2.638          1.228          1.511          0              270            0              45
  20  Pillow          -2.124         0.658          -1.522         0              28.296         0              25
  21  Pillow          -2.378         0.637          -2.330         0              0              0              25
  22  CD              2.649          1.249          1.737          0              0              0              34
  23  Mug             2.039          0.894          -3.251         0              0              0              38
  24  Bowl            2.384          0.898          -3.251         0              0              0              38
  25  Bed             -1.613         -0.028         -1.861         0              270            0
  26  DeskLamp        2.760          0.890          -3.317         0              90             0
  27  DeskLamp        -2.459         0.668          -0.532         0              90             0
  28  LightSwitch     -0.700         1.016          0.334          0              90             0
  29  GarbageCan      1.343          1.087          -3.374         0              0              0
  30  Mirror          0.532          1.419          2.0            0              0              0
  31  Window          -0.834         1.394          -3.653         90             0              0
  32  Window          2.958          1.508          -1.019         90             270            0
  33  Sofa            2.383          0.008          -0.288         0              270            0
  34  Safe            2.721          1.228          1.784          0              270            0
  35  Drawer          1.979          0.486          -2.988         0              0              0
  36  Drawer          1.979          0.728          -2.988         0              0              0
  37  Drawer          1.979          0.208          -2.988         0              0              0
  38  Desk            2.318          -0.009         -3.214         0              0              0
  39  Drawer          -2.349         0.163          -3.150         0              90             0
  40  SideTable       -2.416         -0.001         -3.149         0              90             0
  41  Drawer          -2.349         0.455          -3.150         0              90             0
  42  Drawer          2.641          0.172          1.511          0              270            0
  43  Drawer          2.641          1.002          1.511          0              270            0
  44  Drawer          2.641          0.448          1.511          0              270            0
  45  Dresser         2.676          0.002          1.511          0              270            0
  46  Drawer          2.641          0.725          1.511          0              270            0
  47  SideTable       -2.416         -0.001         -0.514         0              90             0
  48  Drawer          -2.349         0.163          -0.514         0              90             0
  49  Drawer          -2.349         0.455          -0.514         0              90             0
  50  Blinds          -0.800         2.087          -3.627         0              0              0
  51  Blinds          2.931          2.166          -1.0           0              270            0
  52  Chair           2.574          0.002          -2.881         0              175.162        0
  53  NorthWall
  54  EastWall
  55  SouthWall
  56  WestWall

Plan:
STEP 1: Turn around to your right walk forward then head to the desk | STEP 2: Pick up the pencil in front of the bowl  | STEP 3: Look for the mug on the desk | STEP 4: Put the pencil in the mug | STEP 5: Pick up the mug with pencil | STEP 6: Turn to your right then walk forward turn right head to the drawer | STEP 7: Put the mug with pencil on top of the right side of the drawer | END