Task: Move two mugs to the desk cupboard

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.901          2.25           0              180            0
   1  Mug             1.905          0.724          0.482          0              270            0              56
   2  CellPhone       1.715          0.524          -0.870         0              90             0              54
   3  Pen             -0.584         0.984          -1.134         0              0              0              47
   4  Pen             -0.799         0.743          -1.486         0              0              0              48
   5  CreditCard      -0.626         0.978          -1.603         0              0              0              47
   6  KeyChain        2.100          0.727          0.482          0              270            0              56
   7  KeyChain        1.710          0.727          0.728          0              90             0              56
   8  AlarmClock      -0.949         0.669          2.902          0              90             0              42
   9  AlarmClock      -0.668         0.979          -1.416         0              0              0              47
  10  Book            -0.745         0.069          2.235          0              0              0              31
  11  Box             -0.493         0.2            -0.286         0              84.024         0
  12  TennisRacket    -1.345         0.288          0.233          30.000         270            180
  13  Pen             -0.751         0.422          -1.154         0              0              0              50
  14  AlarmClock      -0.872         0.678          1.991          0              90             0              32
  15  Pillow          -0.731         1.585          -0.496         0              0              0              46
  16  Pillow          -0.829         1.549          -1.533         0              0              0              46
  17  CellPhone       -0.761         0.670          3.075          0              90             0              42
  18  KeyChain        1.822          0.315          -0.454         0              0              0              58
  19  CreditCard      1.672          0.451          1.605          0              180            0              59
  20  CD              -0.603         0.677          1.804          0              90             0              32
  21  Pencil          2.003          0.730          0.236          0              270            0              56
  22  Laptop          1.799          0.719          -0.626         0              336.963        0              56
  23  Mug             -0.855         0.666          2.728          0              90             0              42
  24  DeskLamp        2.016          0.701          0.708          0              0              0
  25  Painting        2.199          1.771          -0.101         90             270            0
  26  GarbageCan      2.022          -0.037         -1.239         0              270            0
  27  Mirror          2.229          1.254          2.664          0              90             0
  28  LightSwitch     2.199          1.258          1.988          0              270            0
  29  Window          1.575          1.559          -1.953         90             180            0
  30  Drawer          -0.551         0.578          2.246          0              90             0
  31  Cabinet         -0.649         0.270          2.247          0              90             0
  32  Desk            -0.655         0.006          1.814          0              90             0
  33  Shelf           1.769          0.184          0.757          0              270            0
  34  Shelf           1.769          0.572          0.757          0              270            0
  35  Shelf           1.769          0.572          0.935          0              270            0
  36  Shelf           1.769          0.378          0.935          0              270            0
  37  Shelf           1.769          0.378          0.757          0              270            0
  38  Shelf           1.769          0.184          0.935          0              270            0
  39  Blinds          1.547          2.434          -1.886         0              0              0
  40  Drawer          -0.553         0.155          2.942          0              90             0
  41  Drawer          -0.553         0.572          2.942          0              90             0
  42  Dresser         -0.665         0.001          2.939          0              90             0
  43  Drawer          -0.553         0.376          2.942          0              90             0
  44  Chair           1.482          0.012          0.223          0              77.085         0
  45  Chair           -0.199         0.012          1.538          0              287.086        0
  46  Bed             -0.866         0.007          -0.919         0              0              0
  47  Dresser         -0.772         0.001          -1.313         0              90             0
  48  Drawer          -0.660         0.830          -1.309         0              90             0
  49  Drawer          -0.660         0.225          -1.309         0              90             0
  50  Drawer          -0.660         0.547          -1.309         0              90             0
  51  Bed             -0.872         1.637          2.188          0              0              0
  52  Drawer          1.685          0.160          -0.805         0              270            0
  53  Drawer          1.685          0.160          -0.378         0              270            0
  54  Drawer          1.685          0.547          -0.805         0              270            0
  55  Drawer          1.685          0.547          -0.378         0              270            0
  56  Desk            1.812          0.003          -0.014         0              270            0
  57  Drawer          1.685          0.354          -0.805         0              270            0
  58  Drawer          1.685          0.354          -0.378         0              270            0
  59  ArmChair        1.712          -0.000         1.532          0              270            0
  60  NorthWall
  61  EastWall
  62  SouthWall
  63  WestWall

Plan:
STEP 1: Move to the entry way desk on the far right side | STEP 2: Pick up the mug on the right side of the desk top | STEP 3: Carry the mug over to the first desk on the left | STEP 4: Open the lower right cupboard on the desk then place the mug in the cupboard, shut door | STEP 5: Move to the desk to the back right | STEP 6: Pick up the mug on top of the desk top | STEP 7: Carry the mug back to the cupboard where the other mug is | STEP 8: Place the mug next to the other white mug in the cupboard | END