Task: take a coffee mug from a book shelf and place it 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           0.75           0.900          -1.25          0              270            0
   1  Bowl            -0.483         0.861          -1.529         0              0              0              38
   2  Mug             -1.834         1.721          0.366          0              0              0              42
   3  CD              -0.748         0.202          -0.365         0              0              0              31
   4  CD              -2.091         0.878          0.749          0              0              0              48
   5  Pen             -1.918         0.884          0.498          0              90             0              41
   6  Pencil          -1.286         1.727          0.448          0              0              0              42
   7  Pencil          -1.224         0.882          0.665          0              0              0              48
   8  CreditCard      -2.155         0.386          0.646          0              0              0              50
   9  CreditCard      -2.091         0.878          0.832          0              0              0              48
  10  KeyChain        -0.483         0.857          -1.702         0              270            0              38
  11  KeyChain        -1.445         1.350          0.407          0              90             0              45
  12  Book            1.815          0.783          1.945          0              0              0              29
  13  Book            -0.735         0.857          -0.836         0              0              0              38
  14  Laptop          1.409          0.781          1.366          0              0              0              29
  15  Book            1.206          0.783          1.945          0              0              0              29
  16  AlarmClock      -0.651         0.858          -1.183         0              0              0              38
  17  BasketBall      1.976          0.120          0.211          0              331.076        0
  18  Pen             -2.235         0.673          0.721          0              0              0              49
  19  Laptop          -1.783         0.871          0.732          0              0              0              48
  20  BaseballBat     1.953          0.659          -1.81          346.388        0              0
  21  Bowl            -2.091         0.882          0.581          0              0              0              48
  22  Pillow          1.003          0.918          1.366          0              0              0              29
  23  KeyChain        -1.728         0.882          0.530          0              0              0              41
  24  CreditCard      -0.735         0.857          -1.356         0              0              0              38
  25  CellPhone       0.800          0.784          1.945          0              0              0              29
  26  CD              -2.240         0.039          2.682          0              180            0              53
  27  Pencil          -0.473         0.368          -0.852         0              0              0              39
  28  Mug             -2.045         1.347          0.407          0              0              0              48
  29  Bed             1.227          -0.002         1.664          0              0              0
  30  LightSwitch     2.151          1.233          -0.518         0              270            0
  31  GarbageCan      -0.747         0.014          -0.327         0              0              0
  32  Mirror          -1.358         1.427          2.855          0              0              0
  33  DeskLamp        -2.296         0.858          0.750          0              0              0
  34  Window          -0.421         1.534          -1.947         90             0              0
  35  Window          0.579          1.534          -1.947         90             0              0
  36  Drawer          -0.491         0.739          -0.855         0              90             0
  37  Drawer          -0.491         0.204          -0.855         0              90             0
  38  Desk            -0.639         0.009          -1.187         0              90             0
  39  Drawer          -0.491         0.487          -0.855         0              90             0
  40  Shelf           -1.965         1.514          0.416          0              0              0
  41  Shelf           -1.965         1.092          0.416          0              0              0
  42  Shelf           -1.312         1.888          0.416          0              0              0
  43  Shelf           -1.965         1.888          0.416          0              0              0
  44  Shelf           -1.312         1.092          0.416          0              0              0
  45  Shelf           -1.312         1.514          0.416          0              0              0
  46  Blinds          0.601          2.161          -1.916         0              0              0
  47  Blinds          -0.402         2.161          -1.916         0              0              0
  48  Desk            -1.726         0.001          0.575          0              0              0
  49  Drawer          -2.058         0.733          0.734          0              0              0
  50  Drawer          -2.058         0.482          0.734          0              0              0
  51  Drawer          -2.058         0.198          0.735          0              0              0
  52  Chair           -0.137         0.000          -1.587         0              315            0
  53  Safe            -2.183         -7.748         2.576          0              180            0
  54  Chair           -1.433         0.009          0.780          357.672        206.726        0
  55  LaundryHamper   0.163          0.003          2.635          0              86.390         0
  56  NorthWall
  57  EastWall
  58  SouthWall
  59  WestWall

Plan:
STEP 1: go to the desk that is in front of a book shelf with a computer on it | STEP 2: pick up the white coffee mug from the book shelf | STEP 3: go to the left end of the desk | STEP 4: place the mug on the left end of the desk | END