Task: Put a pen on a desk.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.900          0.5            0              90             0
   1  CellPhone       -0.901         1.349          -2.172         0              0              0              42
   2  Pencil          -1.396         1.780          -1.981         0              0              0              39
   3  CreditCard      1.663          0.374          -0.930         0              90             0              32
   4  KeyChain        -1.033         1.347          -2.123         0              90             0              42
   5  KeyChain        -0.935         1.777          -2.101         0              0              0              39
   6  Book            0.584          0.646          0.238          0              0              0              26
   7  Book            -0.244         0.839          -2.185         0              0              0              39
   8  Laptop          1.720          0.643          -0.120         0              0              0              26
   9  Pillow          1.152          0.739          0.598          0              0              0              26
  10  Pillow          1.152          0.739          -0.299         0              0              0              26
  11  Book            -0.935         0.839          -1.969         0              0              0              39
  12  Box             -0.424         2.065          -2.027         0              352.503        0              39
  13  Pillow          0.584          0.739          0.598          0              0              0              26
  14  AlarmClock      1.671          0.680          -1.065         0              270            0              34
  15  BasketBall      -0.337         0.120          1.031          0              0              0              Floor|-00.16|
  16  BaseballBat     -1.602         0.022          0.356          90             8.736          0              Floor|-00.16|
  17  Pen             0.128          0.151          -2.196         0              90             0              29
  18  CellPhone       0.868          0.647          0.238          0              0              0              26
  19  TennisRacket    -1.667         0.0            0.818          90             29.999         0              Floor|-00.16|
  20  Laptop          1.720          0.643          0.239          0              0              0              26
  21  Pencil          -0.705         0.841          -1.753         0              0              0              39
  22  KeyChain        -0.901         1.347          -2.074         0              0              0              42
  23  CreditCard      -1.626         0.837          -2.293         0              0              0              39
  24  CD              -0.213         1.348          -2.235         0              0              0              37
  25  Mirror          0.883          1.582          -2.399         0              180            0
  26  Bed             1.176          -0.002         0.238          0              90             0
  27  LightSwitch     1.899          1.297          -1.302         0              270            0
  28  Poster          -1.927         1.411          -1.455         90             90             0
  29  GarbageCan      0.128          -0.030         -2.146         0              90             0
  30  Window          -2.028         1.388          -0.270         90             270            0
  31  DeskLamp        -1.673         1.774          -2.190         0              0              0
  32  Drawer          1.624          0.453          -0.987         0              270            0
  33  Drawer          1.624          0.163          -0.987         0              270            0
  34  SideTable       1.691          0.002          -0.988         0              270            0
  35  Chair           -1.089         0.009          -1.570         0              166.824        0
  36  Blinds          -1.949         2.158          -0.252         0              90             0
  37  Cabinet         -0.241         1.534          -2.101         0              0              0
  38  Cabinet         -1.301         1.534          -2.101         0              0              0
  39  Desk            -0.962         0.003          -1.942         0              0              0
  40  Cabinet         -1.683         1.534          -2.101         0              0              0
  41  Cabinet         -0.623         1.534          -2.101         0              0              0
  42  Shelf           -0.962         1.534          -2.101         0              0              0
  43  NorthWall
  44  EastWall
  45  SouthWall
  46  WestWall

Plan:
STEP 1: Turn to the right and then stand on the side of the desk with the trash can, facing the desk. | STEP 2: Pick the pen up out of the trash can. | STEP 3: Look up at the desk. | STEP 4: Put the pen on the desk. | END