Task: Place a container with a pen on a stand.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.5           0.910          0.5            0              270            0
   1  CellPhone       0.123          0.714          1.408          0              0              0              24
   2  CellPhone       2.784          0.807          3.715          0              0              0              38
   3  Pen             2.69           0.848          1.017          0              0              0              39
   4  Pen             2.680          0.813          3.494          0              0              0              38
   5  Pencil          2.889          0.811          3.494          0              0              0              38
   6  Pencil          2.784          0.810          2.392          0              0              0              38
   7  Book            -0.833         0.713          1.408          0              0              0              24
   8  RemoteControl   -0.749         0.914          4.717          0              0              0              27
   9  Laptop          -0.833         0.712          1.690          0              0              0              24
  10  Book            2.471          0.745          -1.619         0              90             0              35
  11  AlarmClock      2.496          0.753          -1.300         0              0              0              47
  12  CellPhone       2.533          0.458          0.819          0              0              0              41
  13  Bowl            -0.815         0.915          4.35           0              0              0              27
  14  CreditCard      2.364          0.399          -0.855         0              270            0              42
  15  KeyChain        2.850          0.843          1.017          0              90             0              39
  16  RemoteControl   2.367          0.808          3.494          0              0              0              38
  17  Laptop          2.367          0.805          3.274          0              0              0              38
  18  Pencil          2.609          0.846          0.361          0              0              0              39
  19  Pillow          -0.959         0.752          2.977          0              0              0              24
  20  Pillow          -0.247         0.752          2.960          0              0              0              24
  21  CD              -1.078         0.913          3.982          0              0              0              27
  22  Pen             2.703          0.464          0.330          0              270            0              41
  23  Mug             2.529          0.841          1.017          0              0              0              39
  24  Bed             -0.594         0.009          2.298          0              0              0
  25  Mirror          -1.184         1.603          4.348          0              0              0
  26  Television      2.738          1.330          0.622          0              270            0
  27  CounterTop      -0.890         0.951          4.349          0              0              0
  28  LightSwitch     0.800          1.371          5.245          0              90             0
  29  Painting        2.992          1.529          3.415          90             270            0
  30  Painting        2.992          1.529          2.553          90             270            0
  31  DeskLamp        2.625          0.772          -1.469         0              0              0
  32  DeskLamp        2.668          0.810          3.082          0              358.947        0
  33  GarbageCan      -0.626         -0.009         3.742          0              0              0
  34  Window          -0.453         1.450          -2.058         90             180            0
  35  SideTable       2.565          0.009          -1.534         0              0              0
  36  ArmChair        -1.277         0.009          -1.169         0              90             0
  37  Blinds          -0.5           2.174          -1.957         0              0              0
  38  Desk            2.572          0.011          3.054          0              270            0
  39  SideTable       2.645          0.009          0.624          0              270            0
  40  Drawer          2.525          0.214          0.624          0              270            0
  41  Drawer          2.525          0.578          0.624          0              270            0
  42  ArmChair        2.424          0.009          -0.564         0              270            0
  43  LaundryHamper   3.457          0.009          4.555          0              270            0
  44  Chair           2.591          0.020          2.015          0              0              0
  45  Chair           2.184          0.020          3.440          0              120.016        0
  46  Chair           2.211          0.020          2.592          0              74.981         0
  47
  48  NorthWall
  49  EastWall
  50  SouthWall
  51  WestWall

Plan:
STEP 1: Turn around, hang a left at the end of the bed and walk to the side of the white television stand on the right. | STEP 2: Pick up the pen on the stand in between the set of keys and the white mug. | STEP 3: Turn right, head right at the bed and hang a left just before the door to reach the white counter on the left. | STEP 4: Put the pen inside the clear container on the counter. | STEP 5: Pick up the clear container with the pen inside from the counter. | STEP 6: Turn around, hang a right at the table and walk to the front of the television stand on the left. | STEP 7: Put the clear container with the pen on the far right corner of the stand. | END