Task: Put two pens in the garbage.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.75           0.900          1.0            0              270            0
   1  TissueBox       3.701          0.779          -1.857         0              0              0              35
   2  CellPhone       3.084          0.779          -1.768         0              0              0              35
   3  Pen             3.701          0.785          -1.59          0              0              0              35
   4  Pencil          2.776          0.784          -1.679         0              0              0              35
   5  KeyChain        0.352          0.616          1.223          0              0              0              31
   6  Book            0.968          0.596          0.722          0              0              0              22
   7  Book            1.577          0.596          -0.430         0              0              0              22
   8  Book            2.956          0.773          -1.499         0              4.886          0              35
   9  KeyChain        0.887          0.434          -1.943         0              330.000        0              33
  10  Pillow          0.463          0.638          0.408          0              101.363        0              22
  11  Pillow          1.171          0.677          0.145          0              0              0              22
  12  CreditCard      0.333          0.616          1.452          0              180            0              31
  13  Pen             3.547          0.783          -1.322         0              0              0              35
  14  Pencil          0.357          0.708          1.296          0              90             0              29
  15  TissueBox       0.226          0.706          1.463          0              90             0              29
  16  Laptop          3.452          0.773          -1.667         0              210.000        0              35
  17  CellPhone       0.667          0.436          -2.070         0              330.000        0              33
  18  AlarmClock      0.291          0.705          1.047          0              0              0              29
  19  CD              0.926          0.440          -2.349         0              330.000        0              33
  20  Chair           3.232          0.002          -1.873         0              350.846        0
  21  Mirror          1.083          1.228          1.700          0              0              0
  22  Bed             0.898          -0.002         0.141          0              270            0
  23  GarbageCan      3.633          8.165          -0.982         0              209.052        0
  24  DeskLamp        3.681          0.785          -1.386         0              0              0
  25  DeskLamp        0.347          0.698          -0.979         0              0              0
  26  Painting        0.100          1.432          -2.053         90             270            0
  27  Window          2.270          1.547          -2.915         90             0              0
  28  LightSwitch     1.809          1.169          1.700          0              180            0
  29  SideTable       0.277          0.000          1.299          0              90             0
  30  SideTable       0.276          0.000          -1.017         0              90             0
  31  Drawer          0.328          0.624          1.299          0              90             0
  32  Drawer          0.328          0.624          -1.017         0              90             0
  33  ArmChair        0.849          -0.001         -2.141         0              66.451         0
  34  Blinds          2.299          2.525          -2.892         0              0              0
  35  Desk            3.238          0.003          -1.590         0              0              0
  36  NorthWall
  37  EastWall
  38  SouthWall
  39  WestWall

Plan:
STEP 1: Turn left and walk to the table then turn left and walk to the garbage. | STEP 2: Pick up the pen under the light at the edge of the table. | STEP 3: Take a half step to your left. | STEP 4: Put the pen in the garbage. | STEP 5: Turn around and walk to the bed then turn left and walk to the wall turn left walk to the wall then turn left and take a step towards the table. | STEP 6: Pick up the pen that's near the right of the laptop. | STEP 7: Walk back over to where you put the first pen. | STEP 8: Put this pen in the garbage too. | END