Task: Place a mug with a pen on a shelf.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -3.25          0.937          1.25           0              180            0
   1  CD              -0.098         0.583          -2.986         0              0              0              29
   2  Pen             -0.187         0.088          -2.778         0              0              0              33
   3  Pen             -0.289         1.121          -2.902         0              180            0              34
   4  Pencil          -1.227         1.119          -2.988         0              0              0              34
   5  Pencil          1.755          0.556          2.253          0              0              0              54
   6  CreditCard      -1.851         1.116          -2.988         0              0              0              34
   7  CreditCard      1.968          0.553          2.539          0              90             0              54
   8  Book            -2.164         1.115          -3.158         0              0              0              34
   9  KeyChain        -2.251         0.294          3.684          0              180            0              47
  10  KeyChain        -0.763         0.191          3.411          0              175.771        0              46
  11  Laptop          1.243          0.830          0.495          0              0              0              27
  12  Laptop          0.958          0.830          0.015          0              0              0              27
  13  Book            -0.602         1.115          -3.073         0              0              0              34
  14  AlarmClock      -1.851         1.118          -2.732         0              0              0              34
  15  CellPhone       -1.539         1.119          -2.902         0              0              0              34
  16  Pillow          1.528          0.940          1.215          0              0              0              27
  17  Pillow          1.815          0.87           1.153          0              270            0              27
  18  TeddyBear       1.868          0.036          -0.561         0              59.999         0              Floor|-00.06|
  19  CreditCard      -0.632         0.083          -2.986         0              0              0              33
  20  KeyChain        1.755          0.548          2.468          358.101        0              358.325        54
  21  Pencil          -0.982         0.086          -2.726         0              0              0              32
  22  Laptop          0.104          0.830          0.495          0              0              0              27
  23  RemoteControl   -2.164         1.118          -2.902         0              0              0              34
  24  CD              -1.851         1.115          -3.243         0              0              0              34
  25  Pen             -1.071         0.588          -2.830         0              0              0              30
  26  Mug             1.755          0.550          2.612          0              0              0              54
  27  Bed             0.967          0.049          0.667          0              90             0
  28  Cabinet         -3.0           1.497          -2.643         0              0              0
  29  Drawer          -0.365         0.785          -2.848         0              0              0
  30  Drawer          -1.159         0.785          -2.848         0              0              0
  31  Cabinet         2.064          1.497          -2.643         0              0              0
  32  Drawer          -1.159         0.285          -2.848         0              0              0
  33  Drawer          -0.365         0.285          -2.848         0              0              0
  34  Desk            -1.271         1.169          -2.987         0              0              0
  35  LightSwitch     -0.159         1.281          3.999          0              180            0
  36  GarbageCan      -3.338         0.022          -2.797         0              4.809          0
  37  HousePlant      -0.195         1.105          -3.084         0              0              0
  38  DeskLamp        1.863          0.581          2.431          0              0              0
  39  Mirror          -1.603         1.447          3.999          0              0              0
  40  Television      -3.883         1.771          2.122          0              90             0
  41  Window          -1.952         2.148          -3.302         90             180            0
  42  Window          -0.467         2.148          -3.302         90             180            0
  43  Window          -3.894         1.751          0.582          90             270            0
  44  Window          -3.894         1.751          -0.675         90             270            0
  45  LaundryHamper   1.831          0.058          3.689          0              354.434        1.354
  46  ArmChair        -0.948         0.051          3.583          0              175.988        0
  47  ArmChair        -2.172         0.051          3.598          0              180            0
  48  Blinds          -0.477         2.785          -3.253         0              0              0
  49  Blinds          -1.957         2.785          -3.253         0              0              0
  50  Blinds          -3.799         2.506          0.602          0              90             0
  51  Blinds          -3.799         2.506          -0.647         0              90             0
  52  Safe            1.673          0.054          -3.004         0              0              0
  53  ArmChair        -3.349         0.051          3.375          0              150.096        0
  54  SideTable       1.775          0.048          2.377          0              0              0
  55  Chair           -2.002         0.050          -2.532         0              165.000        0
  56  NorthWall
  57  EastWall
  58  SouthWall
  59  WestWall

Plan:
STEP 1: Take a left at the end of the windows, turn right at the end of the bend and walk to the white shelf ahead. | STEP 2: Pick up the black pen in front of the plant on the shelf. | STEP 3: Turn around, take a right at the black chair and turn right at the wall to face the small round table. | STEP 4: Put the pen inside the white mug in front of the small lamp on the table. | STEP 5: Pick up the mug with the pen inside from the table. | STEP 6: Turn right, hang a left at the black chair and walk to the white shelf ahead. | STEP 7: Put the mug with the pen inside on the shelf in front of the small yellow pencil. | END