Task: Move two mugs to a black desk.

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          0.75           0              180            0
   1  Mug             1.638          0.706          -0.226         0              0              0              32
   2  TissueBox       0.248          0.705          -1.716         0              180            0              40
   3  CellPhone       1.511          0.491          -0.604         0              270            0              33
   4  CellPhone       -1.630         0.530          -0.082         0              0              0              23
   5  Pen             0.433          0.086          -1.479         0              180            0              36
   6  Box             1.537          1.652          0.692          0              0              0              26
   7  Book            -1.630         0.527          -0.570         0              0              0              23
   8  AlarmClock      1.550          1.412          0.393          0              270            0              32
   9  CellPhone       0.494          0.707          -1.326         0              180            0              40
  10  TissueBox       0.741          0.705          -1.326         0              180            0              40
  11  TeddyBear       -2.204         0.500          0.181          355.000        297.467        9.162          23
  12  CreditCard      -0.120         0.289          -1.479         0              180            0              39
  13  KeyChain        -0.074         0.289          -1.639         0              90             0              39
  14  BaseballBat     -2.202         0.04           -1.343         0              45             90             Floor|+00.00|
  15  TennisRacket    -2.254         0.324          -1.806         15.000         180            180            Floor|+00.00|
  16  Pillow          -1.483         0.598          0.160          0              0              0              23
  17  Laptop          -1.923         0.525          -0.082         0              0              0              23
  18  CD              1.603          0.487          -0.254         0              270            0              33
  19  Pen             1.233          0.709          -1.326         0              180            0              40
  20  Pencil          1.469          1.415          0.779          0              270            0              32
  21  Mug             1.524          0.706          -0.623         0              270            0              32
  22  Mirror          -0.689         1.495          0.954          0              0              0
  23  Bed             -1.742         0.000          -0.071         0              0              0
  24  Chair           0.891          -0.001         -1.251         0              175.104        0
  25  GarbageCan      -0.606         -0.021         0.799          0              0              0
  26  ShelvingUnit    1.550          1.402          0.374          0              270            0
  27  Painting        -2.401         1.700          -0.859         90             90             0
  28  DeskLamp        1.291          0.699          -1.717         0              0              0
  29  LightSwitch     0.231          1.287          0.954          0              180            0
  30  HousePlant      1.488          1.394          0.035          0              122.291        0
  31  Window          0.046          1.559          -2.079         90             180            0
  32  SideTable       1.561          0.000          -0.465         0              270            0
  33  Shelf           1.541          0.493          -0.475         0              270            0
  34  Blinds          0.007          2.152          -2.014         0              0              0
  35  Drawer          -0.156         0.547          -1.430         0              0              0
  36  Drawer          0.270          0.159          -1.430         0              0              0
  37  Drawer          -0.156         0.159          -1.430         0              0              0
  38  Drawer          0.270          0.353          -1.430         0              0              0
  39  Drawer          -0.156         0.353          -1.430         0              0              0
  40  Desk            0.634          0.002          -1.557         0              0              0
  41  Drawer          0.270          0.547          -1.430         0              0              0
  42  Shelf           1.406          0.571          -1.514         0              0              0
  43  Shelf           1.406          0.183          -1.514         0              0              0
  44  Shelf           1.584          0.183          -1.514         0              0              0
  45  Shelf           1.406          0.377          -1.514         0              0              0
  46  Shelf           1.584          0.377          -1.514         0              0              0
  47  Shelf           1.584          0.571          -1.514         0              0              0
  48  NorthWall
  49  EastWall
  50  SouthWall
  51  WestWall

Plan:
STEP 1: Walk towards the black desk, then turn left and walk over to the small end table. | STEP 2: Pick up the rightmost mug off of the end table. | STEP 3: Turn right to face the black desk. | STEP 4: Put the mug on the desk to the left of the tissue box. | STEP 5: Turn around and take a step forward, then turn right and look down. | STEP 6: Pick up the mug off of the small end table. | STEP 7: Turn right and take a step forward, then look down at the desk. | STEP 8: Put the mug on the desk behind the pen. | END