Task: Take the pen out of the waste basket and put it in the bedside table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.0            0.901          -0.5           0              0              0
   1  Mug             2.656          0.178          0.349          0              180            0              42
   2  Mug             -1.603         0.661          -1.482         0              0              0              46
   3  CD              1.379          0.022          -1.620         0              0              0              33
   4  CD              2.596          0.886          0.645          0              180            0              41
   5  CellPhone       2.995          0.988          0.439          0              180            0              36
   6  Pen             2.644          0.993          0.155          0              180            0              36
   7  Pen             2.995          0.993          1.860          0              180            0              36
   8  CreditCard      -1.469         0.662          -1.482         0              0              0              46
   9  KeyChain        2.596          0.887          1.420          0              0              0              40
  10  Book            -0.984         0.693          0.782          0              0              0              28
  11  Pillow          -0.716         0.779          -0.555         0              0              0              28
  12  Book            2.914          0.981          0.798          0              287.688        0              36
  13  KeyChain        2.732          0.986          0.439          0              180            0              36
  14  Laptop          2.819          0.986          1.292          0              180            0              36
  15  Cloth           1.763          0.000          -1.732         0              70.590         0
  16  CreditCard      -1.737         0.662          -1.482         0              0              0              46
  17  Pen             1.352          0.029          -1.717         0              0              0              33
  18  Pencil          2.820          0.992          0.155          0              180            0              36
  19  BaseballBat     3.076          0.629          -1.762         0              0              338.300
  20  AlarmClock      -1.587         0.655          -1.058         0              0              0              46
  21  BaseballBat     0.808          0.05           2.151          0              0              270
  22  Pillow          -1.373         0.754          -0.204         0              255.000        0              28
  23  Pillow          -0.181         0.779          0.336          0              0              0              28
  24  CellPhone       2.557          0.985          0.439          0              180            0              36
  25  CD              -1.558         0.662          -1.172         0              0              0              46
  26  Mug             -1.692         0.661          -1.327         0              0              0              46
  27  Curtains        -0.020         2.923          -1.853         0              0              0
  28  Bed             -0.750         -0.018         0.113          1.247          270            0
  29  LightSwitch     1.317          1.297          2.197          0              180            0
  30  DeskLamp        -1.618         0.669          1.486          0              0              0
  31  DeskLamp        -1.631         0.669          -1.308         0              0              0
  32  Painting        1.524          1.516          -1.853         90             0              0
  33  GarbageCan      1.352          0.000          -1.685         0              0              0
  34  Mirror          0.575          1.351          2.197          0              0              0
  35  Window          -0.013         1.687          -1.919         90             0              0
  36  Dresser         2.819          0.000          1.008          0              270            0
  37  Drawer          2.572          0.901          1.784          0              270            0
  38  Cabinet         2.484          0.499          1.014          0              270            0
  39  Cabinet         2.484          0.499          0.999          0              270            0
  40  Drawer          2.572          0.901          1.263          0              270            0
  41  Drawer          2.572          0.901          0.748          0              270            0
  42  Cabinet         2.484          0.499          -0.019         0              270            0
  43  Drawer          2.572          0.901          0.230          0              270            0
  44  Cabinet         2.484          0.499          2.033          0              270            0
  45  Drawer          -1.533         0.459          1.478          0              90             0
  46  SideTable       -1.599         0.001          -1.249         0              90             0
  47  Drawer          -1.533         0.459          -1.250         0              90             0
  48  SideTable       -1.599         0.001          1.479          0              90             0
  49  ArmChair        2.574          0.002          -0.817         0              299.998        0
  50  Shelf           -1.552         0.040          -1.400         0              90             0
  51  Shelf           -1.552         0.040          -1.133         0              90             0
  52  Shelf           -1.552         0.040          1.328          0              90             0
  53  Shelf           -1.552         0.040          1.595          0              90             0
  54  NorthWall
  55  EastWall
  56  SouthWall
  57  WestWall

Plan:
STEP 1: Turn left, walk slightly forward, turn left, walk to the wall, turn left so you are facing the waste basket.  | STEP 2: Pick up the red pen in the waste basket.  | STEP 3: Turn left, take a step, turn left, walk to the table beside the bed.  | STEP 4: Put the pen on the end table behind the CD.  | END