Task: put the blue pencil on the table into the trash bin

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.901          0.0            0              270            0
   1  CD              1.029          0.693          -2.196         0              90             0              36
   2  CD              1.492          0.473          -0.911         0              270            0              35
   3  CellPhone       -2.046         0.631          -0.198         0              0              0              27
   4  CellPhone       -1.171         0.631          -0.473         0              0              0              27
   5  CreditCard      -0.339         0.663          0.513          0              180            0              39
   6  CreditCard      -0.724         0.090          0.480          0              0              0              40
   7  KeyChain        -0.451         0.370          0.480          0              90             0              38
   8  KeyChain        -0.634         0.663          0.643          0              0              0              39
   9  Book            -0.362         0.692          -1.980         0              90             0              36
  10  Book            -1.521         0.629          -0.473         0              0              0              27
  11  Pillow          -1.346         0.703          -0.198         0              0              0              27
  12  AlarmClock      -0.560         0.664          0.600          0              180            0              39
  13  AlarmClock      1.610          0.694          -1.644         0              18.354         0              36
  14  Box             -0.015         0.239          -2.091         0              0              0
  15  Book            -0.782         0.661          0.600          0              180            0              39
  16  BaseballBat     1.798          0.639          0.425          0              0              342.316
  17  Pen             0.477          0.698          -2.336         0              90             0              36
  18  Pencil          -0.219         0.697          -2.148         0              90             0              36
  19  KeyChain        -0.561         0.663          0.427          0              180            0              39
  20  Pillow          -1.694         0.656          0.415          0              0              0              27
  21  CreditCard      1.456          0.473          -0.715         0              270            0              35
  22  CellPhone       1.559          0.693          -1.409         0              0              0              36
  23  Laptop          -1.871         0.628          -1.297         0              0              0              27
  24  CD              0.661          0.692          -2.266         0              90             0              36
  25  Bowl            1.222          0.686          -2.128         0              0              0              36
  26  AlarmClock      -0.506         0.694          -1.980         0              90             0              36
  27  Bed             -1.696         0.004          -0.446         0              0              0
  28  Chair           0.956          -0.000         -1.747         0              110.225        0
  29  DeskLamp        -0.440         0.688          -2.276         0              0              0
  30  LightSwitch     0.625          1.338          0.734          0              180            0
  31  GarbageCan      1.660          -0.019         -0.389         0              345.008        0
  32  Mirror          1.300          1.422          0.765          0              0              0
  33  HousePlant      -0.867         0.000          -2.286         0              0              0
  34  Window          0.819          1.496          -2.553         90             180            0
  35  Shelf           1.616          0.561          -0.802         0              0              0
  36  Desk            0.617          -0.000         -1.511         0              0              0
  37  Blinds          0.796          2.217          -2.476         0              0              0
  38  Drawer          -0.558         0.456          0.462          0              180            0
  39  SideTable       -0.557         -0.000         0.529          0              180            0
  40  Drawer          -0.558         0.164          0.462          0              180            0
  41  Desktop         1.455          0.692          -1.886         358.180        309.674        0
  42  NorthWall
  43  EastWall
  44  SouthWall
  45  WestWall

Plan:
STEP 1: turn left, walk to the table | STEP 2: grab the blue pencil on the table | STEP 3: turn around, walk to the trash bin on the right | STEP 4: put the pencil in the trash bin | END