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           -0.75          0.910          0.5            0              180            0
   1  Mug             2.889          0.805          2.613          0              0              0              48
   2  Bowl            2.471          0.809          2.613          0              0              0              48
   3  Bowl            2.471          0.809          2.833          0              0              0              48
   4  CD              2.185          0.399          -0.855         0              270            0              52
   5  CD              2.496          0.745          -1.444         0              0              0              57
   6  CellPhone       -1.078         0.913          4.166          0              0              0              37
   7  CellPhone       2.618          0.094          0.526          0              0              0              50
   8  Pen             2.576          0.813          3.053          0              0              0              48
   9  Pen             -0.881         0.919          3.982          0              0              0              37
  10  Pencil          2.618          0.464          0.526          0              0              0              51
  11  Pencil          2.575          0.100          0.428          0              0              0              50
  12  KeyChain        -1.038         0.400          -1.053         0              90             0              46
  13  KeyChain        -0.749         0.914          4.533          0              180            0              37
  14  Book            -0.749         0.912          4.166          0              0              0              37
  15  RemoteControl   2.680          0.809          2.833          0              0              0              48
  16  AlarmClock      -0.946         0.921          4.35           0              0              0              37
  17  AlarmClock      2.889          0.816          3.494          0              0              0              48
  18  Laptop          -0.833         0.712          2.539          0              0              0              34
  19  Laptop          2.364          0.397          -0.594         0              270            0              52
  20  Book            2.618          0.093          0.721          0              0              0              50
  21  AlarmClock      2.576          0.816          2.392          0              0              0              48
  22  CellPhone       2.471          0.807          3.274          0              0              0              48
  23  Bowl            2.609          0.845          0.230          0              90             0              49
  24  CreditCard      2.680          0.807          3.274          0              0              0              48
  25  KeyChain        2.471          0.809          2.392          0              0              0              48
  26  RemoteControl   2.397          0.745          -1.516         0              0              0              45
  27  Laptop          -0.881         0.911          4.717          0              0              0              37
  28  Pencil          2.262          0.811          3.715          0              0              0              48
  29  Pillow          -0.959         0.752          2.977          0              0              0              34
  30  Pillow          -1.312         0.785          1.690          0              0              0              34
  31  CD              2.660          0.094          0.917          0              0              0              50
  32  Pen             2.784          0.813          2.392          0              0              0              48
  33  Mug             2.686          0.743          -1.619         0              90             0              45
  34  Bed             -0.594         0.009          2.298          0              0              0
  35  Mirror          -1.184         1.603          4.348          0              0              0
  36  Television      2.738          1.330          0.622          0              270            0
  37  CounterTop      -0.890         0.951          4.349          0              0              0
  38  LightSwitch     0.800          1.371          5.245          0              90             0
  39  Painting        2.992          1.529          3.415          90             270            0
  40  Painting        2.992          1.529          2.553          90             270            0
  41  DeskLamp        2.625          0.772          -1.469         0              0              0
  42  DeskLamp        2.668          0.810          3.082          0              358.947        0
  43  GarbageCan      -0.626         -0.009         3.742          0              0              0
  44  Window          -0.453         1.450          -2.058         90             180            0
  45  SideTable       2.565          0.009          -1.534         0              0              0
  46  ArmChair        -1.277         0.009          -1.169         0              90             0
  47  Blinds          -0.5           2.174          -1.957         0              0              0
  48  Desk            2.572          0.011          3.054          0              270            0
  49  SideTable       2.645          0.009          0.624          0              270            0
  50  Drawer          2.525          0.214          0.624          0              270            0
  51  Drawer          2.525          0.578          0.624          0              270            0
  52  ArmChair        2.424          0.009          -0.564         0              270            0
  53  LaundryHamper   3.457          0.009          4.555          0              270            0
  54  Chair           2.591          0.020          2.015          0              0              0
  55  Chair           2.184          0.020          3.440          0              120.016        0
  56  Chair           2.211          0.020          2.592          0              74.981         0
  57
  58  NorthWall
  59  EastWall
  60  SouthWall
  61  WestWall

Plan:
STEP 1: Turn left then walk straight, stand in between the tv stand and 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, then turn left face the tv stand | STEP 6: Put the mug with pen on the left side of the tv stand | END