Task: Put mug with pen on top of the desk shelf

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.900          1.5            0              270            0
   1  Mug             1.016          0.727          1.562          0              270            0              45
   2  Mug             1.220          0.727          1.066          0              180            0              45
   3  CD              -0.095         0.689          -1.749         0              0              0              47
   4  CellPhone       -0.213         0.693          -1.616         0              0              0              47
   5  Pen             1.173          0.081          1.666          0              0              0              43
   6  Pen             -0.095         0.698          -1.705         0              0              0              47
   7  Pen             -0.095         0.698          -1.838         0              0              0              47
   8  Pencil          1.405          1.142          1.089          0              270            0              42
   9  Pencil          1.356          0.732          1.231          0              0              0              45
  10  CreditCard      1.084          0.728          1.231          0              0              0              45
  11  CreditCard      1.423          0.728          1.066          0              0              0              45
  12  AlarmClock      1.278          1.139          1.402          0              270            0              42
  13  AlarmClock      0.255          0.693          -1.616         0              0              0              47
  14  Book            1.145          0.721          1.806          0              0              0              44
  15  Box             -1.233         0.263          -1.435         0              312.675        0
  16  CellPhone       1.084          0.732          0.901          0              0              0              45
  17  BaseballBat     -1.717         0.708          -0.677         0              0              12.045
  18  Bowl            1.353          0.721          0.891          0              0              0              45
  19  BasketBall      -1.64          0.127          -1.652         0              0              0
  20  Laptop          0.955          0.776          -0.440         0              0              0              34
  21  CreditCard      0.021          0.693          -1.616         0              0              0              47
  22  KeyChain        -0.180         0.099          -1.663         0              0              0              48
  23  AlarmClock      1.356          0.729          1.562          0              0              0              45
  24  Pencil          0.164          0.391          -1.663         0              270            0              49
  25  Pillow          0.704          0.849          -0.988         0              0              0              34
  26  CD              1.356          0.728          1.727          0              0              0              45
  27  Pen             1.356          0.734          1.396          0              0              0              45
  28  Mug             1.152          0.727          1.562          0              270            0              45
  29  Poster          0.978          1.970          -1.868         90             0              0
  30  Mirror          -0.884         1.350          2.086          0              0              0
  31  Poster          1.483          1.978          -1.210         90             270            0
  32  Poster          1.483          1.503          -0.128         90             270            0
  33  Poster          1.483          2.138          -0.128         90             270            0
  34  Bed             0.955          0.002          -0.722         0              0              0
  35  GarbageCan      1.133          0.032          0.581          0              0              0
  36  DeskLamp        -0.396         0.664          -1.666         0              315            0
  37  LightSwitch     0.554          1.154          2.079          0              180            0
  38  Window          -0.174         1.006          -2.009         90             0              0
  39  LaundryHamper   -1.425         0.006          1.676          0              149.999        0
  40  Chair           1.127          -8.434         1.053          0              90             0
  41  Blinds          -0.145         1.679          -1.986         0              0              0
  42  Shelf           1.316          1.174          1.388          0              270            0
  43  Drawer          1.099          0.167          1.724          0              270            0
  44  Drawer          1.099          0.622          1.724          0              270            0
  45  Desk            1.189          0.002          1.384          0              270            0
  46  Drawer          1.099          0.408          1.724          0              270            0
  47  SideTable       -0.103         -0.000         -1.691         0              0              0
  48  Drawer          -0.104         0.157          -1.618         0              0              0
  49  Drawer          -0.104         0.456          -1.618         0              0              0
  50  NorthWall
  51  EastWall
  52  SouthWall
  53  WestWall

Plan:
STEP 1: Turn to your right and face desk | STEP 2: Pick up the pen on the desk | STEP 3: Look down in front of the desk | STEP 4: Put the pen in the second mug beside the book | STEP 5: Pick up the mug with pen | STEP 6: Look up on the upper part of the desk shelf | STEP 7: Put the mug with pen on top of the shelf | END