Task: place white coffee mug on white dresser

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            0.910          2.5            0              270            0
   1  Mug             2.496          0.743          -1.444         0              0              0              52
   2  Mug             2.758          0.742          -1.521         0              90             0              52
   3  Bowl            2.576          0.809          2.392          0              0              0              43
   4  CellPhone       2.618          0.461          0.917          0              0              0              46
   5  CellPhone       2.680          0.807          3.715          0              0              0              43
   6  Pen             2.447          0.750          -1.300         0              0              0              40
   7  Pen             2.850          0.848          0.492          0              180            0              44
   8  CreditCard      2.533          0.461          0.330          0              0              0              46
   9  CreditCard      2.490          0.458          0.624          0              0              0              46
  10  KeyChain        2.609          0.843          1.017          0              90             0              44
  11  KeyChain        2.889          0.808          3.053          0              0              0              43
  12  RemoteControl   -0.815         0.914          3.982          0              0              0              32
  13  Pillow          -0.833         0.785          1.690          0              0              0              29
  14  Laptop          -0.881         0.911          4.35           0              0              0              32
  15  Book            -0.833         0.713          3.105          0              0              0              29
  16  AlarmClock      2.576          0.816          2.613          0              0              0              43
  17  CellPhone       2.399          0.745          -1.669         0              90             0              40
  18  Bowl            2.576          0.809          2.833          0              0              0              43
  19  CreditCard      2.575          0.458          0.624          0              0              0              46
  20  KeyChain        2.660          0.459          0.819          0              0              0              46
  21  RemoteControl   2.850          0.844          0.230          0              0              0              44
  22  Laptop          -1.312         0.712          2.539          0              0              0              29
  23  Pencil          2.471          0.749          -1.619         0              270            0              40
  24  Pillow          0.123          0.785          1.408          0              0              0              29
  25  Pillow          -1.128         0.470          -1.140         0              90             0              41
  26  CD              -1.078         0.913          4.166          0              0              0              32
  27  Pen             -0.881         0.919          4.717          0              0              0              32
  28  Mug             2.889          0.806          3.715          0              0              0              43
  29  Bed             -0.594         0.009          2.298          0              0              0
  30  Mirror          -1.184         1.603          4.348          0              0              0
  31  Television      2.738          1.330          0.622          0              270            0
  32  CounterTop      -0.890         0.951          4.349          0              0              0
  33  LightSwitch     0.800          1.371          5.245          0              90             0
  34  Painting        2.992          1.529          3.415          90             270            0
  35  Painting        2.992          1.529          2.553          90             270            0
  36  DeskLamp        2.625          0.772          -1.469         0              0              0
  37  DeskLamp        2.668          0.810          3.082          0              358.947        0
  38  GarbageCan      -0.626         -0.009         3.742          0              0              0
  39  Window          -0.453         1.450          -2.058         90             180            0
  40  SideTable       2.565          0.009          -1.534         0              0              0
  41  ArmChair        -1.277         0.009          -1.169         0              90             0
  42  Blinds          -0.5           2.174          -1.957         0              0              0
  43  Desk            2.572          0.011          3.054          0              270            0
  44  SideTable       2.645          0.009          0.624          0              270            0
  45  Drawer          2.525          0.214          0.624          0              270            0
  46  Drawer          2.525          0.578          0.624          0              270            0
  47  ArmChair        2.424          0.009          -0.564         0              270            0
  48  LaundryHamper   3.457          0.009          4.555          0              270            0
  49  Chair           2.591          0.020          2.015          0              0              0
  50  Chair           2.184          0.020          3.440          0              120.016        0
  51  Chair           2.211          0.020          2.592          0              74.981         0
  52
  53  NorthWall
  54  EastWall
  55  SouthWall
  56  WestWall

Plan:
STEP 1: turn left, go to round table with lamp to the right of green chair | STEP 2: pick up white coffee mug from behind lamp on round table | STEP 3: turn left, go to white dresser with television on the right | STEP 4: place white coffee mug to the right of keys on white dresser | END