Task: To move the pen from the trash to the 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 right to walk towards the desk and turn left. Walk halfway past the bed and turn around to walk straight to the wall. Turn right and look down at the trash can. | STEP 2: Take the pen out of the trash can. | STEP 3: Raise the pen up in the air. | STEP 4: Place the pen on the desk. | END