Task: Put a mug with a pen in it on the shelf.

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            0.901          -0.25          0              0              0
   1  Vase            1.194          1.578          -2.298         0              0              0              37
   2  Vase            1.194          0.055          -2.303         0              0              0              60
   3  CD              1.853          0.977          -2.277         0              0              0              31
   4  CellPhone       -1.515         0.599          -0.675         0              0              0              51
   5  CellPhone       -1.780         0.599          -0.533         0              0              0              51
   6  Pencil          1.981          1.581          -2.256         0              0              0              35
   7  CreditCard      -1.794         0.364          -1.222         0              0              0              54
   8  CreditCard      0.766          0.728          -2.647         0              180            0              44
   9  KeyChain        -1.515         0.599          0.031          0              90             0              51
  10  Book            -0.564         0.418          -2.100         0              0              0              50
  11  AlarmClock      0.076          0.729          -2.764         0              180            0              44
  12  AlarmClock      0.766          0.730          -2.764         0              180            0              44
  13  Box             1.996          0.316          -1.042         0              254.839        0
  14  Book            0.339          0.723          -2.65          0              165.000        0              44
  15  Pillow          -1.548         0.457          -1.831         0              90             0              50
  16  CellPhone       -0.333         0.417          -1.610         0              0              0              50
  17  Vase            1.916          0.055          -2.303         0              0              0              62
  18  BaseballBat     -1.629         0.649          0.416          14.491         0              0
  19  CreditCard      1.320          1.577          -2.256         0              0              0              37
  20  TennisRacket    2.244          0.279          -1.901         335.402        251.974        201.714
  21  KeyChain        1.724          0.978          -2.340         0              90             0              31
  22  AlarmClock      0.076          0.730          -2.588         0              180            0              44
  23  Cloth           2.176          0.0            -0.571         0              335.474        0
  24  Laptop          -1.764         0.591          -0.112         0              113.510        0              51
  25  CD              2.216          0.044          0.311          0              225            0              39
  26  CD              0.632          0.414          -2.521         0              0              0              46
  27  Pen             0.651          0.734          -2.588         0              180            0              44
  28  Pencil          -1.791         0.512          -1.065         0              0              0              53
  29  Mug             -1.515         0.597          -0.392         0              0              0              51
  30  Shelf           1.311          0.969          -2.298         0              0              0
  31  Shelf           1.843          0.969          -2.298         0              0              0
  32  Shelf           1.311          1.171          -2.298         0              0              0
  33  Shelf           1.843          1.171          -2.298         0              0              0
  34  Shelf           1.311          1.368          -2.298         0              0              0
  35  Shelf           1.843          1.570          -2.298         0              0              0
  36  Shelf           1.843          1.368          -2.298         0              0              0
  37  Shelf           1.311          1.570          -2.298         0              0              0
  38  DeskLamp        -1.848         0.592          -0.786         0              90             0
  39  GarbageCan      2.197          -0.007         0.298          0              232.025        0
  40  LightSwitch     -0.638         1.149          0.499          0              180            0
  41  Poster          0.001          1.495          -2.642         90             90             0
  42  Mirror          -1.072         1.469          0.497          0              0              0
  43  Window          0.435          1.398          -2.855         90             0              0
  44  SideTable       0.435          0.036          -2.647         0              0              0
  45  Drawer          0.433          0.203          -2.445         0              0              0
  46  Drawer          0.433          0.505          -2.445         0              0              0
  47  Dumbbell        -1.656         0.602          -0.534         0              90             0
  48  Blinds          0.449          2.164          -2.845         0              0              0
  49  GarbageBag      1.730          0.318          0.222          270            90             83.412
  50  Bed             -1.047         -0.000         -1.851         0              270            0
  51  Desk            -1.710         0.000          -0.374         0              90             0
  52  Drawer          -1.790         0.245          -1.144         0              90             0
  53  SideTable       -1.824         0.000          -1.144         0              90             0
  54  Drawer          -1.790         0.392          -1.144         0              90             0
  55  Drawer          -1.790         0.097          -1.144         0              90             0
  56  Chair           -1.453         0.005          -0.311         0              286.095        0
  57  Shelf           1.591          0.606          -2.305         0              0              0
  58  ShelvingUnit    1.588          0.004          -2.326         0              0              0
  59  Shelf           1.854          0.453          -2.298         0              0              0
  60  Shelf           1.321          0.155          -2.296         0              0              0
  61  Shelf           1.323          0.456          -2.300         0              0              0
  62  Shelf           1.852          0.152          -2.294         0              0              0
  63  NorthWall
  64  EastWall
  65  SouthWall
  66  WestWall

Plan:
STEP 1: Turn around, and go to the dresser behind you, with the clocks on it. | STEP 2: Pick up the pen on the dresser, to the left of the book. | STEP 3: Turn around, move forward, then turn left to go to the desk. | STEP 4: Put the pen in the mug on the desk. | STEP 5: Pick up the mug from the desk. | STEP 6: Turn around, go forward, then turn right to approach the shelves located to the left of the dresser. | STEP 7: Place the mug on the bottom left shelf | END