Task: put two mugs on a desk

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          -1.5           0              180            0
   1  Mug             1.591          1.409          0.779          0              90             0              39
   2  CD              0.341          0.081          -1.585         0              180            0              43
   3  CD              0.987          0.703          -1.521         0              180            0              47
   4  CellPhone       0.494          0.707          -1.326         0              180            0              47
   5  CellPhone       0.494          0.707          -1.814         0              180            0              47
   6  Pen             -0.028         0.086          -1.479         0              180            0              43
   7  Pen             1.562          0.714          -0.465         0              0              0              39
   8  Pencil          0.387          0.085          -1.479         0              180            0              43
   9  Pencil          0.018          0.500          -1.479         0              180            0              42
  10  KeyChain        1.562          0.709          -0.703         0              90             0              39
  11  Pillow          -1.483         0.598          -0.570         0              0              0              30
  12  AlarmClock      1.486          0.709          -0.623         0              90             0              39
  13  Box             1.537          1.652          0.692          0              0              0              33
  14  Book            0.708          0.696          -1.612         0              165.000        0              47
  15  AlarmClock      1.631          1.412          0.264          0              270            0              39
  16  CellPhone       0.341          0.085          -1.425         0              180            0              43
  17  TissueBox       1.479          0.705          -1.423         0              180            0              47
  18  TeddyBear       -2.204         0.500          0.181          355.000        297.467        9.162          30
  19  CreditCard      0.295          0.289          -1.425         0              180            0              45
  20  KeyChain        1.469          1.412          0.393          0              270            0              39
  21  BaseballBat     -2.202         0.04           -1.343         0              45             90             Floor|+00.00|
  22  TennisRacket    -2.254         0.324          -1.806         15.000         180            180            Floor|+00.00|
  23  Pillow          -2.039         0.545          0.677          0              0              0              30
  24  Laptop          0.037          0.694          -1.459         0              348.828        0              47
  25  CD              -0.637         0.051          0.773          0              0              0              32
  26  Pen             0.494          0.707          -1.521         0              180            0              47
  27  Pencil          1.448          0.712          -0.465         0              270            0              39
  28  Mug             1.524          0.706          -0.226         0              0              0              39
  29  Mirror          -0.689         1.495          0.954          0              0              0
  30  Bed             -1.742         0.000          -0.071         0              0              0
  31  Chair           0.891          -0.001         -1.251         0              175.104        0
  32  GarbageCan      -0.606         -0.021         0.799          0              0              0
  33  ShelvingUnit    1.550          1.402          0.374          0              270            0
  34  Painting        -2.401         1.700          -0.859         90             90             0
  35  DeskLamp        1.291          0.699          -1.717         0              0              0
  36  LightSwitch     0.231          1.287          0.954          0              180            0
  37  HousePlant      1.488          1.394          0.035          0              122.291        0
  38  Window          0.046          1.559          -2.079         90             180            0
  39  SideTable       1.561          0.000          -0.465         0              270            0
  40  Shelf           1.541          0.493          -0.475         0              270            0
  41  Blinds          0.007          2.152          -2.014         0              0              0
  42  Drawer          -0.156         0.547          -1.430         0              0              0
  43  Drawer          0.270          0.159          -1.430         0              0              0
  44  Drawer          -0.156         0.159          -1.430         0              0              0
  45  Drawer          0.270          0.353          -1.430         0              0              0
  46  Drawer          -0.156         0.353          -1.430         0              0              0
  47  Desk            0.634          0.002          -1.557         0              0              0
  48  Drawer          0.270          0.547          -1.430         0              0              0
  49  Shelf           1.406          0.571          -1.514         0              0              0
  50  Shelf           1.406          0.183          -1.514         0              0              0
  51  Shelf           1.584          0.183          -1.514         0              0              0
  52  Shelf           1.406          0.377          -1.514         0              0              0
  53  Shelf           1.584          0.377          -1.514         0              0              0
  54  Shelf           1.584          0.571          -1.514         0              0              0
  55  NorthWall
  56  EastWall
  57  SouthWall
  58  WestWall

Plan:
STEP 1: walk to face table to right of book shelf | STEP 2: pick up white mug from table | STEP 3: turn to face desk | STEP 4: put mug on desk | STEP 5: walk to face top of bookshelves | STEP 6: pick up white mug from bookshelves | STEP 7: turn to face desk | STEP 8: put mug on desk | END