Task: take the mug from the desk shelf to put it on 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           0.5            0.900          -1.0           0              90             0
   1  CellPhone       -2.187         0.040          2.629          0              180            0              49
   2  CellPhone       -2.031         0.040          2.575          0              180            0              49
   3  Pen             -0.511         0.370          -0.852         0              0              0              35
   4  Pen             -0.710         0.209          -0.338         0              0              0              27
   5  Pencil          -1.744         0.882          0.498          0              0              0              37
   6  KeyChain        -1.744         0.879          0.330          0              0              0              37
   7  KeyChain        -0.511         0.365          -1.093         0              0              0              35
   8  Book            1.206          0.783          1.366          0              0              0              25
   9  Book            0.800          0.783          1.076          0              0              0              25
  10  Laptop          1.206          0.781          1.945          0              0              0              25
  11  Book            1.003          0.783          2.234          0              0              0              25
  12  AlarmClock      -0.514         0.851          -0.619         0              56.206         0              34
  13  BasketBall      1.976          0.120          0.211          0              331.076        0
  14  Pen             -0.473         0.370          -1.013         0              0              0              35
  15  Laptop          1.612          0.781          1.655          0              0              0              25
  16  BaseballBat     1.953          0.659          -1.81          346.388        0              0
  17  Bowl            -0.827         0.850          -1.641         0              0              0              34
  18  Pillow          1.612          0.918          2.234          0              0              0              25
  19  KeyChain        -1.834         0.668          0.645          0              90             0              45
  20  CreditCard      -1.995         0.668          0.758          0              0              0              45
  21  CellPhone       1.612          0.784          2.524          0              0              0              25
  22  CD              -0.903         0.857          -0.663         0              0              0              34
  23  Pencil          -0.735         0.861          -1.010         0              0              0              34
  24  Mug             -1.834         1.721          0.407          0              0              0              38
  25  Bed             1.227          -0.002         1.664          0              0              0
  26  LightSwitch     2.151          1.233          -0.518         0              270            0
  27  GarbageCan      -0.747         0.014          -0.327         0              0              0
  28  Mirror          -1.358         1.427          2.855          0              0              0
  29  DeskLamp        -2.296         0.858          0.750          0              0              0
  30  Window          -0.421         1.534          -1.947         90             0              0
  31  Window          0.579          1.534          -1.947         90             0              0
  32  Drawer          -0.491         0.739          -0.855         0              90             0
  33  Drawer          -0.491         0.204          -0.855         0              90             0
  34  Desk            -0.639         0.009          -1.187         0              90             0
  35  Drawer          -0.491         0.487          -0.855         0              90             0
  36  Shelf           -1.965         1.514          0.416          0              0              0
  37  Shelf           -1.965         1.092          0.416          0              0              0
  38  Shelf           -1.312         1.888          0.416          0              0              0
  39  Shelf           -1.965         1.888          0.416          0              0              0
  40  Shelf           -1.312         1.092          0.416          0              0              0
  41  Shelf           -1.312         1.514          0.416          0              0              0
  42  Blinds          0.601          2.161          -1.916         0              0              0
  43  Blinds          -0.402         2.161          -1.916         0              0              0
  44  Desk            -1.726         0.001          0.575          0              0              0
  45  Drawer          -2.058         0.733          0.734          0              0              0
  46  Drawer          -2.058         0.482          0.734          0              0              0
  47  Drawer          -2.058         0.198          0.735          0              0              0
  48  Chair           -0.137         0.000          -1.587         0              315            0
  49  Safe            -2.183         -7.748         2.576          0              180            0
  50  Chair           -1.433         0.009          0.780          357.672        206.726        0
  51  LaundryHamper   0.163          0.003          2.635          0              86.390         0
  52  NorthWall
  53  EastWall
  54  SouthWall
  55  WestWall

Plan:
STEP 1: walk around to the desk and face the middle row of books | STEP 2: Pick up the white mug from the top shelf | STEP 3: walk the mug around to the side of the desk | STEP 4: set the mug on the desk | END