Task: to pick up a coffee mug and put it on the night stand

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.900          -1.75          0              90             0
   1  CD              -0.586         0.618          1.066          0              180            0              35
   2  CellPhone       0.188          0.619          0.910          0              180            0              35
   3  CellPhone       -1.381         0.676          -2.508         0              0              0              36
   4  Pen             1.055          0.681          -2.553         0              180            0              37
   5  Pencil          -0.121         0.623          0.988          0              180            0              35
   6  Pencil          -1.322         0.685          -2.553         0              0              0              36
   7  KeyChain        1.173          0.677          -2.329         0              0              0              37
   8  KeyChain        -0.431         0.620          0.599          0              180            0              35
   9  Pillow          0.064          0.653          -1.657         0              0              0              23
  10  Box             2.453          0.222          -0.041         0              0              0
  11  Book            0.430          0.555          -0.988         0              0              0              23
  12  KeyChain        1.039          0.084          -2.423         0              90             0              40
  13  Pillow          0.192          0.607          -2.307         0              0              0              23
  14  BaseballBat     0.419          0.666          1.044          10.360         0              0
  15  Pencil          -0.431         0.625          0.755          0              270            0              35
  16  CellPhone       -0.741         0.619          1.066          0              180            0              35
  17  CreditCard      1.173          0.675          -2.464         0              0              0              37
  18  Pen             0.203          0.618          1.039          0              12.506         0              35
  19  Laptop          -0.117         0.554          -1.211         0              180            0              23
  20  AlarmClock      -1.236         0.673          -2.425         0              29.999         0              37
  21  CD              -1.160         0.374          -2.375         0              0              0              41
  22  Mug             0.033          0.618          1.066          0              180            0              35
  23  Bed             -0.118         -0.001         -1.699         0              180            0
  24  Mirror          2.644          1.347          0.384          0              90             0
  25  GarbageCan      2.467          -0.029         0.936          0              271.107        0
  26  LightSwitch     0.333          1.256          1.149          0              180            0
  27  DeskLamp        0.915          0.670          -2.435         0              0              0
  28  Painting        0.003          1.562          -2.687         90             180            0
  29  Window          -1.559         1.414          -1.356         90             270            0
  30  Window          -1.559         1.414          -0.057         90             270            0
  31  Shelf           -0.276         0.351          0.832          0              0              0
  32  Shelf           -0.276         0.099          0.832          0              0              0
  33  Blinds          -1.462         2.157          -1.343         0              90             0
  34  Blinds          -1.462         2.157          -0.046         0              90             0
  35  Desk            -0.276         -0.001         0.833          0              0              0
  36  SideTable       -1.204         0.002          -2.456         0              0              0
  37  SideTable       0.948          0.002          -2.456         0              0              0
  38  Drawer          0.948          0.166          -2.389         0              0              0
  39  Drawer          -1.204         0.166          -2.389         0              0              0
  40  Drawer          0.948          0.458          -2.389         0              0              0
  41  Drawer          -1.204         0.458          -2.389         0              0              0
  42
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: look down at the bed then turn left  walk forward to the edge of the bed and turn right then turn left towards the desk  | STEP 2: pick up the coffee mug from the desk  | STEP 3: turn left and walk towards the window  then turn left and walk towards the night stand  | STEP 4: place the coffee mug on the night stand  | END