Task: Put the 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           2.75           0.910          5.5            0              270            0
   1  Mug             2.447          0.742          -1.300         0              0              0              37
   2  Mug             2.576          0.805          2.392          0              0              0              40
   3  Mug             2.471          0.806          3.274          0              0              0              40
   4  Bowl            2.784          0.809          3.715          0              0              0              40
   5  Pen             2.262          0.813          2.833          0              0              0              40
   6  Pen             2.609          0.848          1.017          0              0              0              41
   7  AlarmClock      2.576          0.815          2.833          0              0              0              40
   8  AlarmClock      2.595          0.752          -1.659         0              0              0              37
   9  Pillow          -0.116         0.785          1.973          0              0              0              26
  10  Laptop          -0.946         0.911          4.717          0              0              0              29
  11  Laptop          2.185          0.397          -0.507         0              270            0              44
  12  Book            2.533          0.460          0.624          0              0              0              43
  13  AlarmClock      2.680          0.815          2.613          0              0              0              40
  14  CellPhone       -0.355         0.714          3.105          0              0              0              26
  15  Bowl            2.784          0.810          2.392          0              0              0              40
  16  CreditCard      2.397          0.745          -1.731         0              0              0              37
  17  KeyChain        2.618          0.098          0.526          0              0              0              42
  18  RemoteControl   2.262          0.808          3.274          0              0              0              40
  19  Laptop          -0.594         0.712          2.822          0              0              0              26
  20  Pencil          2.327          0.747          -1.422         0              90             0              49
  21  Pillow          -1.217         0.470          -1.140         0              90             0              38
  22  Pillow          -0.833         0.785          1.973          0              0              0              26
  23  CD              -0.590         0.053          3.743          0              0              0              35
  24  Pen             2.471          0.813          3.715          0              0              0              40
  25  Mug             -0.946         0.911          4.166          0              0              0              29
  26  Bed             -0.594         0.009          2.298          0              0              0
  27  Mirror          -1.184         1.603          4.348          0              0              0
  28  Television      2.738          1.330          0.622          0              270            0
  29  CounterTop      -0.890         0.951          4.349          0              0              0
  30  LightSwitch     0.800          1.371          5.245          0              90             0
  31  Painting        2.992          1.529          3.415          90             270            0
  32  Painting        2.992          1.529          2.553          90             270            0
  33  DeskLamp        2.625          0.772          -1.469         0              0              0
  34  DeskLamp        2.668          0.810          3.082          0              358.947        0
  35  GarbageCan      -0.626         -0.009         3.742          0              0              0
  36  Window          -0.453         1.450          -2.058         90             180            0
  37  SideTable       2.565          0.009          -1.534         0              0              0
  38  ArmChair        -1.277         0.009          -1.169         0              90             0
  39  Blinds          -0.5           2.174          -1.957         0              0              0
  40  Desk            2.572          0.011          3.054          0              270            0
  41  SideTable       2.645          0.009          0.624          0              270            0
  42  Drawer          2.525          0.214          0.624          0              270            0
  43  Drawer          2.525          0.578          0.624          0              270            0
  44  ArmChair        2.424          0.009          -0.564         0              270            0
  45  LaundryHamper   3.457          0.009          4.555          0              270            0
  46  Chair           2.591          0.020          2.015          0              0              0
  47  Chair           2.184          0.020          3.440          0              120.016        0
  48  Chair           2.211          0.020          2.592          0              74.981         0
  49
  50  NorthWall
  51  EastWall
  52  SouthWall
  53  WestWall

Plan:
STEP 1: Move forward then turn left head to the left side of the tv stand  | STEP 2: Pick up the pen on the tv stand  | STEP 3: Turn right then head to the side table beside the couch  | STEP 4: Put the pen in the mug on the side table | STEP 5: Pick up the mug with pen  | STEP 6: Turn left then head in front of the tv stand | STEP 7: Put the mug with pen on the left side of tv stand | END