Task: Place two pens in the garbage can, in front of the desk.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           3.5            0.900          1.0            0              270            0
   1  CellPhone       3.393          0.777          -1.59          0              0              0              38
   2  CellPhone       3.239          0.777          -1.500         0              0              0              38
   3  Pen             0.291          0.711          1.213          0              90             0              32
   4  Pen             0.323          0.710          -1.271         0              180            0              33
   5  CreditCard      3.239          0.779          -1.768         0              0              0              38
   6  CreditCard      0.833          0.451          -2.189         0              330.000        0              36
   7  KeyChain        0.324          0.707          1.047          0              90             0              32
   8  AlarmClock      3.701          0.778          -1.857         0              0              0              38
   9  Laptop          0.968          0.594          0.145          0              0              0              25
  10  Laptop          1.374          0.594          0.722          0              0              0              25
  11  Book            2.956          0.773          -1.499         0              4.886          0              38
  12  KeyChain        3.547          0.781          -1.679         0              0              0              38
  13  Pillow          0.463          0.638          0.408          0              101.363        0              25
  14  Pillow          0.535          0.638          -0.119         0              279.121        0              25
  15  CreditCard      3.084          0.779          -1.768         0              0              0              38
  16  Pen             3.701          0.783          -1.679         0              0              0              38
  17  Pencil          0.258          0.709          1.463          0              90             0              32
  18  TissueBox       3.547          0.779          -1.857         0              0              0              38
  19  Laptop          1.374          0.594          -0.430         0              0              0              25
  20  CellPhone       0.291          0.705          1.380          0              90             0              32
  21  AlarmClock      3.239          0.779          -1.857         0              0              0              38
  22  CD              0.814          0.432          -1.986         0              330.000        0              36
  23  Chair           3.232          0.002          -1.873         0              350.846        0
  24  Mirror          1.083          1.228          1.700          0              0              0
  25  Bed             0.898          -0.002         0.141          0              270            0
  26  GarbageCan      3.633          8.165          -0.982         0              209.052        0
  27  DeskLamp        3.681          0.785          -1.386         0              0              0
  28  DeskLamp        0.347          0.698          -0.979         0              0              0
  29  Painting        0.100          1.432          -2.053         90             270            0
  30  Window          2.270          1.547          -2.915         90             0              0
  31  LightSwitch     1.809          1.169          1.700          0              180            0
  32  SideTable       0.277          0.000          1.299          0              90             0
  33  SideTable       0.276          0.000          -1.017         0              90             0
  34  Drawer          0.328          0.624          1.299          0              90             0
  35  Drawer          0.328          0.624          -1.017         0              90             0
  36  ArmChair        0.849          -0.001         -2.141         0              66.451         0
  37  Blinds          2.299          2.525          -2.892         0              0              0
  38  Desk            3.238          0.003          -1.590         0              0              0
  39  NorthWall
  40  EastWall
  41  SouthWall
  42  WestWall

Plan:
STEP 1: Walk towards the bed, then turn left at the foot of the bed, walk towards the window until you reach the corner of the bed and turn right, walk to the night stand.  | STEP 2: Pick up the pen on the night stand that is near the left edge.  | STEP 3: Turn around and walk to the garbage can on the floor, in front of the desk.  | STEP 4: Toss the pen into the garbage can on the floor.  | STEP 5: Turn around and walk to the end of the desk, then turn left and walk to the corner of the desk, make another left and continue until you are at the center of the desk, behind the chair.  | STEP 6: Pick up the pen that is on the desk, between the tissue box and the keys.  | STEP 7: Turn around and walk to the end of the desk and turn right, then walk to the corner of the desk and turn right again, continue walking to the garbage can on the floor.  | STEP 8: Place the pen in the garbage can on the floor, in front of the desk.  | END