Task: throw two red pens into the trash

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           3.25           0.900          0.0            0              90             0
   1  TissueBox       0.324          0.706          1.463          0              90             0              28
   2  CD              3.625          0.047          -1.011         0              210.000        0              22
   3  Pen             2.776          0.783          -1.768         0              0              0              34
   4  Pen             0.323          0.710          -1.271         0              180            0              29
   5  Pencil          2.930          0.784          -1.679         0              0              0              34
   6  KeyChain        0.333          0.616          -0.787         0              270            0              31
   7  Book            1.374          0.596          -0.238         0              0              0              21
   8  KeyChain        3.239          0.779          -1.768         0              0              0              34
   9  Pillow          0.463          0.638          0.408          0              101.363        0              21
  10  Pillow          0.535          0.638          -0.119         0              279.121        0              21
  11  CreditCard      2.930          0.779          -1.500         0              0              0              34
  12  Pen             0.226          0.710          1.213          0              90             0              28
  13  Pencil          2.776          0.784          -1.411         0              0              0              34
  14  TissueBox       0.303          0.698          -0.783         0              0              0              29
  15  Laptop          0.968          0.594          -0.046         0              0              0              21
  16  CellPhone       3.084          0.779          -1.59          0              0              0              34
  17  AlarmClock      3.084          0.778          -1.500         0              0              0              34
  18  CD              3.084          0.779          -1.322         0              0              0              34
  19  Chair           3.232          0.002          -1.873         0              350.846        0
  20  Mirror          1.083          1.228          1.700          0              0              0
  21  Bed             0.898          -0.002         0.141          0              270            0
  22  GarbageCan      3.633          8.165          -0.982         0              209.052        0
  23  DeskLamp        3.681          0.785          -1.386         0              0              0
  24  DeskLamp        0.347          0.698          -0.979         0              0              0
  25  Painting        0.100          1.432          -2.053         90             270            0
  26  Window          2.270          1.547          -2.915         90             0              0
  27  LightSwitch     1.809          1.169          1.700          0              180            0
  28  SideTable       0.277          0.000          1.299          0              90             0
  29  SideTable       0.276          0.000          -1.017         0              90             0
  30  Drawer          0.328          0.624          1.299          0              90             0
  31  Drawer          0.328          0.624          -1.017         0              90             0
  32  ArmChair        0.849          -0.001         -2.141         0              66.451         0
  33  Blinds          2.299          2.525          -2.892         0              0              0
  34  Desk            3.238          0.003          -1.590         0              0              0
  35  NorthWall
  36  EastWall
  37  SouthWall
  38  WestWall

Plan:
STEP 1: walk over to the desk, face the desk to the left of the chair | STEP 2: pick up the red pen from on the desk | STEP 3: walk around the desk, face the round garbage can in front of the desk | STEP 4: put the red pen inside the garbage can | STEP 5: turn around and walk to the nightstand to the left of the bed | STEP 6: pick up the red pen from the nightstand | STEP 7: turn around and walk over to the round garbage can in front of the desk | STEP 8: put the red pen inside the garbage can | END