Task: Move a mug and place a pen in it

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            0.900          1.5            0              0              0
   1  Mug             1.288          0.727          1.066          0              0              0              43
   2  Mug             1.288          0.727          1.727          0              0              0              43
   3  Mug             -0.213         0.688          -1.794         0              0              0              45
   4  Pen             1.310          1.144          1.402          0              270            0              40
   5  Pen             1.310          1.144          1.089          0              270            0              40
   6  Pencil          1.135          0.555          1.737          0              0              0              42
   7  Pencil          1.102          0.080          0.588          0              0              0              33
   8  CreditCard      -0.447         0.693          -1.838         0              0              0              45
   9  KeyChain        1.098          0.553          1.950          0              180            0              43
  10  Book            0.955          0.780          -0.714         0              0              0              32
  11  Pillow          0.704          0.849          -0.166         0              0              0              32
  12  Book            1.080          0.780          -1.537         0              0              0              32
  13  Box             -1.233         0.263          -1.435         0              312.675        0
  14  CellPhone       1.016          0.732          1.727          0              0              0              43
  15  BaseballBat     -1.717         0.708          -0.677         0              0              12.045
  16  Bowl            1.152          0.729          0.901          0              0              0              43
  17  BasketBall      -1.64          0.127          -1.652         0              0              0
  18  Laptop          1.223          0.721          1.342          0              255.000        0              43
  19  CreditCard      1.373          1.138          1.246          0              270            0              40
  20  KeyChain        1.084          0.729          1.066          0              0              0              43
  21  AlarmClock      0.255          0.690          -1.616         0              0              0              45
  22  Pencil          1.310          1.142          1.558          0              270            0              40
  23  Pillow          1.080          0.849          0.107          0              0              0              32
  24  CD              1.405          1.138          1.558          0              270            0              40
  25  Pen             -0.095         0.695          -1.660         0              0              0              45
  26  Mug             0.164          0.686          -1.805         0              348.715        0              45
  27  Poster          0.978          1.970          -1.868         90             0              0
  28  Mirror          -0.884         1.350          2.086          0              0              0
  29  Poster          1.483          1.978          -1.210         90             270            0
  30  Poster          1.483          1.503          -0.128         90             270            0
  31  Poster          1.483          2.138          -0.128         90             270            0
  32  Bed             0.955          0.002          -0.722         0              0              0
  33  GarbageCan      1.133          0.032          0.581          0              0              0
  34  DeskLamp        -0.396         0.664          -1.666         0              315            0
  35  LightSwitch     0.554          1.154          2.079          0              180            0
  36  Window          -0.174         1.006          -2.009         90             0              0
  37  LaundryHamper   -1.425         0.006          1.676          0              149.999        0
  38  Chair           1.127          -8.434         1.053          0              90             0
  39  Blinds          -0.145         1.679          -1.986         0              0              0
  40  Shelf           1.316          1.174          1.388          0              270            0
  41  Drawer          1.099          0.167          1.724          0              270            0
  42  Drawer          1.099          0.622          1.724          0              270            0
  43  Desk            1.189          0.002          1.384          0              270            0
  44  Drawer          1.099          0.408          1.724          0              270            0
  45  SideTable       -0.103         -0.000         -1.691         0              0              0
  46  Drawer          -0.104         0.157          -1.618         0              0              0
  47  Drawer          -0.104         0.456          -1.618         0              0              0
  48  NorthWall
  49  EastWall
  50  SouthWall
  51  WestWall

Plan:
STEP 1: Move to your right so you are facing the furthest left of the desk | STEP 2: Pick up a mug off of the desk | STEP 3: Move to your right and then face left right away | STEP 4: Set the mug down on the shelf of the desk | STEP 5: Pick up a pen off of the desk | STEP 6: Set a pen down inside of the mug | END