Task: Put a mug with a pencil in it on the shelf.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.900          0.5            0              270            0
   1  TissueBox       1.600          0.710          -0.703         0              0              0              34
   2  TissueBox       1.233          0.703          -1.423         0              180            0              42
   3  Pencil          1.429          1.415          0.264          0              270            0              34
   4  Book            -1.630         0.527          -0.082         0              0              0              25
   5  Book            0.387          0.290          -1.425         0              180            0              40
   6  KeyChain        1.480          0.489          -0.534         0              270            0              35
   7  KeyChain        0.433          0.290          -1.639         0              90             0              40
   8  Box             1.537          1.652          0.692          0              0              0              28
   9  Book            -1.483         0.527          -0.814         0              0              0              25
  10  AlarmClock      1.562          0.709          -0.226         0              0              0              34
  11  CellPhone       1.479          0.707          -1.716         0              180            0              42
  12  TissueBox       0.987          0.705          -1.619         0              180            0              42
  13  TeddyBear       -2.204         0.500          0.181          355.000        297.467        9.162          25
  14  CreditCard      0.525          0.289          -1.532         0              180            0              40
  15  KeyChain        0.494          0.702          -1.326         0              180            0              42
  16  BaseballBat     -2.202         0.04           -1.343         0              45             90             Floor|+00.00|
  17  TennisRacket    -2.254         0.324          -1.806         15.000         180            180            Floor|+00.00|
  18  Pillow          -2.070         0.598          -0.570         0              0              0              25
  19  Laptop          0.037          0.694          -1.459         0              348.828        0              42
  20  CD              1.479          0.703          -1.619         0              180            0              42
  21  Pen             -0.028         0.086          -1.532         0              180            0              38
  22  Pencil          0.987          0.707          -1.423         0              180            0              42
  23  Mug             0.741          0.701          -1.814         0              180            0              42
  24  Mirror          -0.689         1.495          0.954          0              0              0
  25  Bed             -1.742         0.000          -0.071         0              0              0
  26  Chair           0.891          -0.001         -1.251         0              175.104        0
  27  GarbageCan      -0.606         -0.021         0.799          0              0              0
  28  ShelvingUnit    1.550          1.402          0.374          0              270            0
  29  Painting        -2.401         1.700          -0.859         90             90             0
  30  DeskLamp        1.291          0.699          -1.717         0              0              0
  31  LightSwitch     0.231          1.287          0.954          0              180            0
  32  HousePlant      1.488          1.394          0.035          0              122.291        0
  33  Window          0.046          1.559          -2.079         90             180            0
  34  SideTable       1.561          0.000          -0.465         0              270            0
  35  Shelf           1.541          0.493          -0.475         0              270            0
  36  Blinds          0.007          2.152          -2.014         0              0              0
  37  Drawer          -0.156         0.547          -1.430         0              0              0
  38  Drawer          0.270          0.159          -1.430         0              0              0
  39  Drawer          -0.156         0.159          -1.430         0              0              0
  40  Drawer          0.270          0.353          -1.430         0              0              0
  41  Drawer          -0.156         0.353          -1.430         0              0              0
  42  Desk            0.634          0.002          -1.557         0              0              0
  43  Drawer          0.270          0.547          -1.430         0              0              0
  44  Shelf           1.406          0.571          -1.514         0              0              0
  45  Shelf           1.406          0.183          -1.514         0              0              0
  46  Shelf           1.584          0.183          -1.514         0              0              0
  47  Shelf           1.406          0.377          -1.514         0              0              0
  48  Shelf           1.584          0.377          -1.514         0              0              0
  49  Shelf           1.584          0.571          -1.514         0              0              0
  50  NorthWall
  51  EastWall
  52  SouthWall
  53  WestWall

Plan:
STEP 1: Move forward then turn left again to face the book shelf. | STEP 2: Take the pencil from the top of the book shelf. | STEP 3: Turn around, then move forward, then turn left to go to the desk. | STEP 4: Place the pencil in the mug on the desk. | STEP 5: Pick up the mug on the desk. | STEP 6: Turn around, move forward, then turn right to approach the shelf to the right of the dresser. | STEP 7: Place the mug on the second shelf, toward the left. | END