Task: Put a pencil in the bin.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.901          -0.5           0              0              0
   1  Bowl            0.276          0.694          -2.106         0              99.090         0              32
   2  Pen             0.661          0.698          -2.125         0              90             0              32
   3  Pen             1.519          0.698          -1.916         0              18.354         0              32
   4  Pencil          -0.362         0.697          -1.980         0              90             0              32
   5  CreditCard      -0.088         0.693          -2.120         0              99.090         0              32
   6  KeyChain        1.510          0.473          -0.862         0              270            0              31
   7  Book            -0.434         0.692          -1.896         0              90             0              32
   8  Book            -0.487         0.661          0.600          0              180            0              35
   9  Laptop          -1.346         0.628          -1.023         0              0              0              23
  10  Box             -0.015         0.239          -2.091         0              0              0
  11  Book            1.371          0.691          -1.968         0              18.354         0              32
  12  BaseballBat     1.798          0.639          0.425          0              0              342.316
  13  Pen             -0.561         0.668          0.427          0              180            0              35
  14  Pencil          1.559          0.697          -1.744         0              0              0              32
  15  KeyChain        1.474          0.473          -0.764         0              270            0              31
  16  Pillow          -1.696         0.703          -0.473         0              0              0              23
  17  CreditCard      -0.339         0.663          0.643          0              180            0              35
  18  CellPhone       -2.221         0.631          -0.198         0              0              0              23
  19  Laptop          -1.871         0.628          -1.297         0              0              0              23
  20  CD              0.477          0.693          -2.125         0              90             0              32
  21  Bowl            1.497          0.694          -0.906         0              0              0              32
  22  AlarmClock      -0.716         0.657          0.570          0              180            0              35
  23  Bed             -1.696         0.004          -0.446         0              0              0
  24  Chair           0.956          -0.000         -1.747         0              110.225        0
  25  DeskLamp        -0.440         0.688          -2.276         0              0              0
  26  LightSwitch     0.625          1.338          0.734          0              180            0
  27  GarbageCan      1.660          -0.019         -0.389         0              345.008        0
  28  Mirror          1.300          1.422          0.765          0              0              0
  29  HousePlant      -0.867         0.000          -2.286         0              0              0
  30  Window          0.819          1.496          -2.553         90             180            0
  31  Shelf           1.616          0.561          -0.802         0              0              0
  32  Desk            0.617          -0.000         -1.511         0              0              0
  33  Blinds          0.796          2.217          -2.476         0              0              0
  34  Drawer          -0.558         0.456          0.462          0              180            0
  35  SideTable       -0.557         -0.000         0.529          0              180            0
  36  Drawer          -0.558         0.164          0.462          0              180            0
  37  Desktop         1.455          0.692          -1.886         358.180        309.674        0
  38  NorthWall
  39  EastWall
  40  SouthWall
  41  WestWall

Plan:
STEP 1: Move to the desk in front of the window | STEP 2: Pick up a pencil from the desk | STEP 3: Move to the bin to the left of the desk | STEP 4: Place the pencil inside the bin | END