Task: Put two pens in the garbage can.

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: Turn and go to the nightstand by the bed. | STEP 2: Pick up the pen on the nightstand.  | STEP 3: Turn around and go to the garbage can. | STEP 4: Put the pencil in the garbage can.  | STEP 5: Turn around and go to the table. | STEP 6: Pick up the pen on the table. | STEP 7: Turn around and go to the garbage can. | STEP 8: Put the pen in the garbage can.  | END