Task: Move a mug from the shelves to the desk.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.5            0.900          -1.25          0              180            0
   1  Bowl            -0.483         0.861          -1.010         0              0              0              30
   2  CellPhone       -1.834         1.724          0.407          0              0              0              34
   3  Pen             -0.735         0.863          -1.702         0              0              0              30
   4  KeyChain        -1.994         0.386          0.646          0              0              0              42
   5  KeyChain        -2.292         0.039          2.576          0              180            0              45
   6  AlarmClock      -2.091         0.879          0.581          0              0              0              40
   7  Book            0.800          0.783          0.787          0              0              0              21
   8  AlarmClock      -1.286         1.724          0.489          0              0              0              34
   9  BasketBall      1.976          0.120          0.211          0              331.076        0
  10  Pen             -1.914         0.392          0.683          0              0              0              42
  11  Laptop          -1.783         0.871          0.732          0              0              0              40
  12  BaseballBat     1.953          0.659          -1.81          346.388        0              0
  13  Bowl            -1.834         0.886          0.407          0              0              0              40
  14  Pillow          1.409          0.918          1.366          0              0              0              21
  15  KeyChain        -2.240         0.039          2.682          0              180            0              45
  16  CreditCard      -0.473         0.364          -0.933         0              0              0              29
  17  CellPhone       -0.735         0.858          -0.836         0              0              0              30
  18  CD              -1.224         0.878          0.832          0              0              0              40
  19  Pencil          -0.511         0.652          -0.692         0              0              0              28
  20  Mug             -2.045         1.347          0.448          0              0              0              40
  21  Bed             1.227          -0.002         1.664          0              0              0
  22  LightSwitch     2.151          1.233          -0.518         0              270            0
  23  GarbageCan      -0.747         0.014          -0.327         0              0              0
  24  Mirror          -1.358         1.427          2.855          0              0              0
  25  DeskLamp        -2.296         0.858          0.750          0              0              0
  26  Window          -0.421         1.534          -1.947         90             0              0
  27  Window          0.579          1.534          -1.947         90             0              0
  28  Drawer          -0.491         0.739          -0.855         0              90             0
  29  Drawer          -0.491         0.204          -0.855         0              90             0
  30  Desk            -0.639         0.009          -1.187         0              90             0
  31  Drawer          -0.491         0.487          -0.855         0              90             0
  32  Shelf           -1.965         1.514          0.416          0              0              0
  33  Shelf           -1.965         1.092          0.416          0              0              0
  34  Shelf           -1.312         1.888          0.416          0              0              0
  35  Shelf           -1.965         1.888          0.416          0              0              0
  36  Shelf           -1.312         1.092          0.416          0              0              0
  37  Shelf           -1.312         1.514          0.416          0              0              0
  38  Blinds          0.601          2.161          -1.916         0              0              0
  39  Blinds          -0.402         2.161          -1.916         0              0              0
  40  Desk            -1.726         0.001          0.575          0              0              0
  41  Drawer          -2.058         0.733          0.734          0              0              0
  42  Drawer          -2.058         0.482          0.734          0              0              0
  43  Drawer          -2.058         0.198          0.735          0              0              0
  44  Chair           -0.137         0.000          -1.587         0              315            0
  45  Safe            -2.183         -7.748         2.576          0              180            0
  46  Chair           -1.433         0.009          0.780          357.672        206.726        0
  47  LaundryHamper   0.163          0.003          2.635          0              86.390         0
  48  NorthWall
  49  EastWall
  50  SouthWall
  51  WestWall

Plan:
STEP 1: Cross the room and move over to the left side of it, then face the desk with the blue chair and the black laptop and look at the shelves above it. | STEP 2: Grab the white mug sitting on the shelf between the books. | STEP 3: Bring the mug with you and move around the desk so that you are between it and the bed, then turn right and face the end of the desk. | STEP 4: Put the mug down on the desk so it's between the water bottle and the disc. | END