Task: put a mug on a 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: turn to face the desk top and shelves above desk | STEP 2: pick up the white mug from the shelf second from the desk top | STEP 3: walk to the left side of the desk | STEP 4: put the mug on the desk top on the cd | END