Task: Put mug with pen on the tv 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           0.910          -1.0           0              0              0
   1  Mug             -0.684         0.911          4.166          0              0              0              35
   2  Mug             2.399          0.743          -1.619         0              0              0              43
   3  Mug             -1.012         0.911          3.982          0              0              0              35
   4  Bowl            2.576          0.810          2.392          0              0              0              46
   5  CD              -0.645         0.049          3.722          0              0              0              41
   6  CD              -0.948         0.399          -1.314         0              90             0              44
   7  Pen             2.850          0.848          0.624          0              180            0              47
   8  Pen             2.496          0.751          -1.372         0              0              0              43
   9  Pen             2.618          0.464          0.526          0              0              0              49
  10  Pencil          2.575          0.100          0.624          0              0              0              48
  11  Pencil          2.471          0.747          -1.521         0              90             0              55
  12  CreditCard      2.185          0.399          -0.420         0              270            0              50
  13  CreditCard      2.275          0.399          -0.681         0              270            0              50
  14  RemoteControl   2.575          0.460          0.721          0              0              0              49
  15  AlarmClock      -0.946         0.921          4.717          0              0              0              35
  16  Laptop          -0.594         0.712          3.105          0              0              0              32
  17  Laptop          2.680          0.805          3.715          0              0              0              46
  18  Book            2.367          0.807          3.274          0              0              0              46
  19  AlarmClock      -0.749         0.921          4.900          0              0              0              35
  20  CellPhone       2.575          0.097          0.526          0              0              0              48
  21  Bowl            -1.012         0.915          4.900          0              0              0              35
  22  CreditCard      2.618          0.097          0.428          0              0              0              48
  23  KeyChain        2.367          0.809          2.392          0              0              0              46
  24  RemoteControl   -0.684         0.914          4.717          0              0              0              35
  25  Laptop          -1.217         0.397          -1.053         0              90             0              44
  26  Pencil          2.770          0.846          0.492          0              0              0              47
  27  Pillow          -0.959         0.752          2.977          0              0              0              32
  28  Pillow          -1.312         0.785          2.256          0              0              0              32
  29  CD              2.609          0.842          0.230          0              0              0              47
  30  Pen             2.69           0.848          1.017          0              0              0              47
  31  Mug             -0.749         0.911          4.35           0              0              0              35
  32  Bed             -0.594         0.009          2.298          0              0              0
  33  Mirror          -1.184         1.603          4.348          0              0              0
  34  Television      2.738          1.330          0.622          0              270            0
  35  CounterTop      -0.890         0.951          4.349          0              0              0
  36  LightSwitch     0.800          1.371          5.245          0              90             0
  37  Painting        2.992          1.529          3.415          90             270            0
  38  Painting        2.992          1.529          2.553          90             270            0
  39  DeskLamp        2.625          0.772          -1.469         0              0              0
  40  DeskLamp        2.668          0.810          3.082          0              358.947        0
  41  GarbageCan      -0.626         -0.009         3.742          0              0              0
  42  Window          -0.453         1.450          -2.058         90             180            0
  43  SideTable       2.565          0.009          -1.534         0              0              0
  44  ArmChair        -1.277         0.009          -1.169         0              90             0
  45  Blinds          -0.5           2.174          -1.957         0              0              0
  46  Desk            2.572          0.011          3.054          0              270            0
  47  SideTable       2.645          0.009          0.624          0              270            0
  48  Drawer          2.525          0.214          0.624          0              270            0
  49  Drawer          2.525          0.578          0.624          0              270            0
  50  ArmChair        2.424          0.009          -0.564         0              270            0
  51  LaundryHamper   3.457          0.009          4.555          0              270            0
  52  Chair           2.591          0.020          2.015          0              0              0
  53  Chair           2.184          0.020          3.440          0              120.016        0
  54  Chair           2.211          0.020          2.592          0              74.981         0
  55
  56  NorthWall
  57  EastWall
  58  SouthWall
  59  WestWall

Plan:
STEP 1: Turn right move forward then turn left on the side table | STEP 2: Pick up the pen on the table | STEP 3: Put the pen in the mug | STEP 4: Pick up the mug with pen on the table | STEP 5: Turn left walk straight then head to the tv stand | STEP 6: Put the mug with pen on the tv stand | END