Task: Put a mug with a pencil on it on a tabletop

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.0            0.900          0.75           0              0              0
   1  Mug             1.631          1.409          0.779          0              90             0              40
   2  Mug             0.741          0.701          -1.423         0              180            0              48
   3  TissueBox       0.741          0.705          -1.619         0              180            0              48
   4  TissueBox       1.233          0.705          -1.619         0              180            0              48
   5  CD              1.480          0.487          -0.394         0              270            0              41
   6  Pencil          1.233          0.705          -1.423         0              180            0              48
   7  CreditCard      1.524          0.708          -0.306         0              0              0              40
   8  Book            -1.923         0.527          -0.326         0              0              0              31
   9  Book            -0.028         0.497          -1.425         0              180            0              43
  10  KeyChain        1.572          0.489          -0.464         0              270            0              41
  11  Pillow          -1.483         0.598          -0.814         0              0              0              31
  12  Pillow          -1.483         0.598          -0.082         0              0              0              31
  13  AlarmClock      0.494          0.704          -1.814         0              180            0              48
  14  Box             1.537          1.652          0.692          0              0              0              34
  15  Book            -0.028         0.290          -1.532         0              180            0              47
  16  AlarmClock      1.524          0.709          -0.703         0              0              0              40
  17  CellPhone       0.387          0.500          -1.425         0              180            0              49
  18  TissueBox       0.494          0.703          -1.521         0              180            0              48
  19  TeddyBear       -2.204         0.500          0.181          355.000        297.467        9.162          31
  20  CreditCard      1.600          0.708          -0.226         0              0              0              40
  21  KeyChain        0.341          0.289          -1.585         0              180            0              46
  22  BaseballBat     -2.202         0.04           -1.343         0              45             90             Floor|+00.00|
  23  TennisRacket    -2.254         0.324          -1.806         15.000         180            180            Floor|+00.00|
  24  Pillow          -2.070         0.598          -0.814         0              0              0              31
  25  Laptop          0.037          0.694          -1.459         0              348.828        0              48
  26  CD              0.387          0.081          -1.479         0              180            0              44
  27  Pen             1.631          1.417          0.393          0              270            0              40
  28  Pencil          1.479          0.707          -1.423         0              180            0              48
  29  Mug             0.987          0.699          -1.423         0              180            0              48
  30  Mirror          -0.689         1.495          0.954          0              0              0
  31  Bed             -1.742         0.000          -0.071         0              0              0
  32  Chair           0.891          -0.001         -1.251         0              175.104        0
  33  GarbageCan      -0.606         -0.021         0.799          0              0              0
  34  ShelvingUnit    1.550          1.402          0.374          0              270            0
  35  Painting        -2.401         1.700          -0.859         90             90             0
  36  DeskLamp        1.291          0.699          -1.717         0              0              0
  37  LightSwitch     0.231          1.287          0.954          0              180            0
  38  HousePlant      1.488          1.394          0.035          0              122.291        0
  39  Window          0.046          1.559          -2.079         90             180            0
  40  SideTable       1.561          0.000          -0.465         0              270            0
  41  Shelf           1.541          0.493          -0.475         0              270            0
  42  Blinds          0.007          2.152          -2.014         0              0              0
  43  Drawer          -0.156         0.547          -1.430         0              0              0
  44  Drawer          0.270          0.159          -1.430         0              0              0
  45  Drawer          -0.156         0.159          -1.430         0              0              0
  46  Drawer          0.270          0.353          -1.430         0              0              0
  47  Drawer          -0.156         0.353          -1.430         0              0              0
  48  Desk            0.634          0.002          -1.557         0              0              0
  49  Drawer          0.270          0.547          -1.430         0              0              0
  50  Shelf           1.406          0.571          -1.514         0              0              0
  51  Shelf           1.406          0.183          -1.514         0              0              0
  52  Shelf           1.584          0.183          -1.514         0              0              0
  53  Shelf           1.406          0.377          -1.514         0              0              0
  54  Shelf           1.584          0.377          -1.514         0              0              0
  55  Shelf           1.584          0.571          -1.514         0              0              0
  56  NorthWall
  57  EastWall
  58  SouthWall
  59  WestWall

Plan:
STEP 1: Go to the desk | STEP 2: Pick up a pencil | STEP 3: Put the pencil in a mug | STEP 4: Pick up the mug | STEP 5: Turn around to the small table | STEP 6: Put the mug on top of the table | END