There are two ways to think of such a goal: Place the object anywhere in a room (e.g. drop a body in a room), or place it on another object (e.g. drop a scroll on a desk).
When doing this for the first time, it is recommended that you try the following in a small practice mission:

Choose your stim wisely. Choose a stim that will not affect anything else in your mission. For example if your mission has zombies, don’t use HolyStim. If you create your own stim (by selecting Act/React Stimuli from the Show Tree menu), you can be sure it will not interfere with anything in your mission. This will require the use of a custom gamesys, and the mission and gamesys will need to be reloaded for the new stim to be ready for use.
— R Soul