Task: Place a mug with a pen in it on the top shelf of 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           -1.25          0.900          -0.5           0              180            0
   1  Mug             -0.095         0.691          -1.794         0              0              0              41
   2  Pen             1.356          0.734          1.066          0              270            0              39
   3  Pencil          1.084          0.732          1.231          0              0              0              39
   4  Pencil          -0.180         0.101          -1.640         0              0              0              42
   5  CreditCard      1.135          0.552          1.666          0              0              0              39
   6  Book            1.205          0.780          0.107          0              0              0              28
   7  Pillow          1.205          0.849          -0.714         0              0              0              28
   8  Book            0.829          0.780          -0.166         0              0              0              28
   9  Box             -1.233         0.263          -1.435         0              312.675        0
  10  CellPhone       1.152          0.732          1.066          0              0              0              39
  11  BaseballBat     -1.717         0.708          -0.677         0              0              12.045
  12  Bowl            1.353          0.721          0.891          0              0              0              39
  13  BasketBall      -1.64          0.127          -1.652         0              0              0
  14  Laptop          1.223          0.721          1.342          0              255.000        0              39
  15  CreditCard      -0.213         0.690          -1.572         0              0              0              41
  16  KeyChain        1.423          0.729          1.727          0              0              0              39
  17  AlarmClock      1.220          0.729          0.901          0              0              0              39
  18  Pencil          0.255          0.696          -1.572         0              0              0              41
  19  Pillow          0.872          0.816          -1.513         0              0              0              28
  20  CD              1.173          0.315          1.595          0              0              0              40
  21  Pen             1.278          1.144          1.558          0              270            0              36
  22  Mug             -0.213         0.688          -1.660         0              270            0              41
  23  Poster          0.978          1.970          -1.868         90             0              0
  24  Mirror          -0.884         1.350          2.086          0              0              0
  25  Poster          1.483          1.978          -1.210         90             270            0
  26  Poster          1.483          1.503          -0.128         90             270            0
  27  Poster          1.483          2.138          -0.128         90             270            0
  28  Bed             0.955          0.002          -0.722         0              0              0
  29  GarbageCan      1.133          0.032          0.581          0              0              0
  30  DeskLamp        -0.396         0.664          -1.666         0              315            0
  31  LightSwitch     0.554          1.154          2.079          0              180            0
  32  Window          -0.174         1.006          -2.009         90             0              0
  33  LaundryHamper   -1.425         0.006          1.676          0              149.999        0
  34  Chair           1.127          -8.434         1.053          0              90             0
  35  Blinds          -0.145         1.679          -1.986         0              0              0
  36  Shelf           1.316          1.174          1.388          0              270            0
  37  Drawer          1.099          0.167          1.724          0              270            0
  38  Drawer          1.099          0.622          1.724          0              270            0
  39  Desk            1.189          0.002          1.384          0              270            0
  40  Drawer          1.099          0.408          1.724          0              270            0
  41  SideTable       -0.103         -0.000         -1.691         0              0              0
  42  Drawer          -0.104         0.157          -1.618         0              0              0
  43  Drawer          -0.104         0.456          -1.618         0              0              0
  44  NorthWall
  45  EastWall
  46  SouthWall
  47  WestWall

Plan:
STEP 1: turn to the left twice and go forward to the corner and turn to the right and go to the desk | STEP 2: pick up the black pen from the desk | STEP 3: turn to the right twice and take few steps forward and turn to the left and go to the night stand | STEP 4: put the pen in the closest mug | STEP 5: pick up the mug with the pen in it | STEP 6: turn to the left twice and go forward to the door and turn to the right and go to the desk  | STEP 7: put the mug with the pen in it on the top shelf of the desk | END