Task: Put two pens, from opposite sides of the desk, into the garbage can.

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 to your left and walk to the left side of the desk. | STEP 2: Pick up the pen on the desk that is close to the edge and in front of the lamp in the corner.  | STEP 3: Walk closer to the garbage can on the floor in front of you.  | STEP 4: Place the pen in the garbage can in front of you.  | STEP 5: Turn around and walk to the end of the desk, then make a left and go to the corner of the desk, and turn left again so that you are on the other side of the desk.  | STEP 6: Pick up the pen on the desk,  between the lap top and the wall.  | STEP 7: Turn to your left and walk to the end of the desk, turn right again and go to the corner of the desk, then make another right and go to the garbage can on the floor.  | STEP 8: Put the pen in the garbage can.  | END