Task: Place a mug with a pen in it on a book case shelf

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.901          -1.0           0              180            0
   1  Pen             1.787          0.060          -2.240         0              0              0              56
   2  Pen             0.651          0.734          -2.588         0              270            0              38
   3  Pen             0.421          0.734          -2.530         0              180            0              38
   4  CreditCard      -1.864         0.508          -1.232         0              0              0              47
   5  Book            -1.715         0.418          -1.855         0              0              0              44
   6  AlarmClock      0.766          0.730          -2.705         0              180            0              38
   7  Box             1.996          0.316          -1.042         0              254.839        0
   8  Book            -1.255         0.418          -1.977         0              0              0              44
   9  Pillow          -0.564         0.491          -1.855         0              0              0              44
  10  CellPhone       0.306          0.728          -2.647         0              180            0              38
  11  Vase            -1.648         0.599          -0.533         0              0              0              45
  12  BaseballBat     -1.629         0.649          0.416          14.491         0              0
  13  CreditCard      1.917          0.977          -2.256         0              0              0              25
  14  TennisRacket    2.244          0.279          -1.901         335.402        251.974        201.714
  15  KeyChain        -1.744         0.365          -1.040         0              270            0              48
  16  AlarmClock      -1.582         0.599          -0.392         0              0              0              45
  17  Cloth           2.176          0.0            -0.571         0              335.474        0
  18  Laptop          -1.764         0.591          -0.112         0              113.510        0              45
  19  CD              0.735          0.724          -2.547         0              0              0              38
  20  CD              -1.819         0.069          -1.113         0              0              0              49
  21  Pen             0.359          0.118          -2.550         0              0              0              39
  22  Pencil          -1.582         0.602          -0.816         0              0              0              45
  23  Mug             0.536          0.728          -2.705         0              180            0              38
  24  Shelf           1.311          0.969          -2.298         0              0              0
  25  Shelf           1.843          0.969          -2.298         0              0              0
  26  Shelf           1.311          1.171          -2.298         0              0              0
  27  Shelf           1.843          1.171          -2.298         0              0              0
  28  Shelf           1.311          1.368          -2.298         0              0              0
  29  Shelf           1.843          1.570          -2.298         0              0              0
  30  Shelf           1.843          1.368          -2.298         0              0              0
  31  Shelf           1.311          1.570          -2.298         0              0              0
  32  DeskLamp        -1.848         0.592          -0.786         0              90             0
  33  GarbageCan      2.197          -0.007         0.298          0              232.025        0
  34  LightSwitch     -0.638         1.149          0.499          0              180            0
  35  Poster          0.001          1.495          -2.642         90             90             0
  36  Mirror          -1.072         1.469          0.497          0              0              0
  37  Window          0.435          1.398          -2.855         90             0              0
  38  SideTable       0.435          0.036          -2.647         0              0              0
  39  Drawer          0.433          0.203          -2.445         0              0              0
  40  Drawer          0.433          0.505          -2.445         0              0              0
  41  Dumbbell        -1.656         0.602          -0.534         0              90             0
  42  Blinds          0.449          2.164          -2.845         0              0              0
  43  GarbageBag      1.730          0.318          0.222          270            90             83.412
  44  Bed             -1.047         -0.000         -1.851         0              270            0
  45  Desk            -1.710         0.000          -0.374         0              90             0
  46  Drawer          -1.790         0.245          -1.144         0              90             0
  47  SideTable       -1.824         0.000          -1.144         0              90             0
  48  Drawer          -1.790         0.392          -1.144         0              90             0
  49  Drawer          -1.790         0.097          -1.144         0              90             0
  50  Chair           -1.453         0.005          -0.311         0              286.095        0
  51  Shelf           1.591          0.606          -2.305         0              0              0
  52  ShelvingUnit    1.588          0.004          -2.326         0              0              0
  53  Shelf           1.854          0.453          -2.298         0              0              0
  54  Shelf           1.321          0.155          -2.296         0              0              0
  55  Shelf           1.323          0.456          -2.300         0              0              0
  56  Shelf           1.852          0.152          -2.294         0              0              0
  57  NorthWall
  58  EastWall
  59  SouthWall
  60  WestWall

Plan:
STEP 1: turn to the left and take a few steps forward and turn to the right and go to the dresser | STEP 2: pick up the right pen from the dresser  | STEP 3: put it in the white coffee mug  | STEP 4: pick up the white coffee mug with the pen in it | STEP 5: turn to the left and take a few steps forward and turn to the right facing the book case | STEP 6: put the mug with the pen in it on the empty shelf below the books | END