Task: move the mug from the shelf to the table

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.75           0.900          -1.5           0              0              0
   1  CellPhone       0.064          0.557          -0.988         0              0              0              22
   2  CellPhone       -0.483         0.557          -2.325         0              0              0              22
   3  Pen             -0.431         0.625          0.677          0              270            0              34
   4  Pen             0.188          0.625          0.677          0              180            0              34
   5  Pencil          -0.276         0.625          0.988          0              180            0              34
   6  KeyChain        -0.121         0.621          0.677          0              180            0              34
   7  KeyChain        1.173          0.681          -2.553         0              0              0              36
   8  Book            0.430          0.555          -1.211         0              0              0              22
   9  Box             2.453          0.222          -0.041         0              0              0
  10  Book            -1.322         0.674          -2.508         0              0              0              35
  11  KeyChain        1.039          0.376          -2.375         0              0              0              39
  12  Pillow          0.192          0.607          -2.307         0              0              0              22
  13  BaseballBat     0.419          0.666          1.044          10.360         0              0
  14  Pencil          -1.144         0.685          -2.464         0              0              0              35
  15  CellPhone       0.033          0.620          0.910          0              180            0              34
  16  CreditCard      -0.276         0.620          0.755          0              180            0              34
  17  Pen             0.033          0.624          0.599          0              180            0              34
  18  Laptop          -0.300         0.554          -1.657         0              0              0              22
  19  AlarmClock      -0.121         0.621          0.910          0              180            0              34
  20  CD              -0.121         0.619          1.066          0              180            0              34
  21  Mug             -0.741         0.618          1.066          0              180            0              34
  22  Bed             -0.118         -0.001         -1.699         0              180            0
  23  Mirror          2.644          1.347          0.384          0              90             0
  24  GarbageCan      2.467          -0.029         0.936          0              271.107        0
  25  LightSwitch     0.333          1.256          1.149          0              180            0
  26  DeskLamp        0.915          0.670          -2.435         0              0              0
  27  Painting        0.003          1.562          -2.687         90             180            0
  28  Window          -1.559         1.414          -1.356         90             270            0
  29  Window          -1.559         1.414          -0.057         90             270            0
  30  Shelf           -0.276         0.351          0.832          0              0              0
  31  Shelf           -0.276         0.099          0.832          0              0              0
  32  Blinds          -1.462         2.157          -1.343         0              90             0
  33  Blinds          -1.462         2.157          -0.046         0              90             0
  34  Desk            -0.276         -0.001         0.833          0              0              0
  35  SideTable       -1.204         0.002          -2.456         0              0              0
  36  SideTable       0.948          0.002          -2.456         0              0              0
  37  Drawer          0.948          0.166          -2.389         0              0              0
  38  Drawer          -1.204         0.166          -2.389         0              0              0
  39  Drawer          0.948          0.458          -2.389         0              0              0
  40  Drawer          -1.204         0.458          -2.389         0              0              0
  41
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: walk forward a few steps, turn left, walk across room, turn right, walk to shelves in front of you | STEP 2: pick up the mug that is on the shelf | STEP 3: turn around, walk to the small table next to the bed | STEP 4: put the mug on the table | END