Task: take the pen from the end table, put it in the bowl on the black shelf

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.25           0.900          1.75           0              180            0
   1  Vase            -1.699         1.147          -2.073         0              90             0              38
   2  CellPhone       2.592          0.433          1.584          0              90             0              59
   3  CreditCard      -1.776         0.799          -0.349         0              0              0              43
   4  KeyChain        2.413          0.439          2.010          0              90             0              59
   5  KeyChain        -1.762         1.147          -1.959         0              180            0              38
   6  Book            -1.720         0.035          0.443          0              180            0              42
   7  AlarmClock      -1.804         0.972          -0.339         0              0              0              43
   8  AlarmClock      1.576          0.680          2.127          0              0              0              53
   9  Book            -1.699         1.637          -2.073         0              90             0              39
  10  KeyChain        2.595          0.434          1.753          0              90             0              59
  11  AlarmClock      2.437          0.680          -1.762         0              0              0              56
  12  Pillow          1.413          0.794          -1.505         0              0              0              25
  13  Pillow          0.652          0.794          -1.531         0              0              0              25
  14  Vase            -1.583         0.971          -0.742         0              0              0              43
  15  Laptop          0.537          0.773          -0.106         0              0              0              25
  16  Vase            -1.650         1.626          -2.316         0              0              0              37
  17  Pencil          -1.509         0.977          -0.339         0              0              0              43
  18  CreditCard      -1.664         0.217          0.255          0              0              0              50
  19  Boots           -1.842         0.000          -1.077         0              135            0
  20  Pen             1.731          0.686          2.082          0              0              0              53
  21  CellPhone       1.02           0.775          -0.695         0              0              0              25
  22  CD              -1.699         1.637          -1.845         0              90             0              37
  23  Bowl            -1.684         1.135          -2.300         0              346.900        0              38
  24  Statue          -1.764         0.965          -0.758         0              59.718         0              43
  25  Bed             1.017          0.003          -0.686         0              180            0
  26  HousePlant      -1.749         0.971          0.463          0              0              0
  27  GarbageCan      -1.665         -0.000         0.953          0              45             0
  28  Painting        0.381          1.976          -1.895         90             0              0
  29  Painting        0.879          1.976          -1.895         90             0              0
  30  Painting        1.373          1.976          -1.895         90             0              0
  31  LightSwitch     -0.164         1.085          2.450          0              180            0
  32  Mirror          -1.950         1.735          -0.206         0              270            0
  33  Window          -1.098         1.570          -3.230         90             0              0
  34  DeskLamp        1.404          0.668          2.209          0              0              0
  35  DeskLamp        2.596          0.668          -1.710         0              0              0
  36  Blinds          -1.062         2.361          -3.173         0              0              0
  37  Shelf           -1.675         1.871          -2.053         0              90             0
  38  Shelf           -1.675         1.383          -2.053         0              90             0
  39  Drawer          -1.715         0.832          -2.053         0              90             0
  40  ShelvingUnit    -1.723         0.007          -2.053         0              90             0
  41  Drawer          -1.713         0.339          -2.053         0              90             0
  42  Drawer          -1.629         0.104          0.243          0              90             0
  43  Dresser         -1.674         0.000          -0.153         0              90             0
  44  Drawer          -1.630         0.868          -0.550         0              90             0
  45  Drawer          -1.630         0.680          0.243          0              90             0
  46  Drawer          -1.629         0.104          -0.550         0              90             0
  47  Drawer          -1.630         0.680          -0.550         0              90             0
  48  Drawer          -1.630         0.868          0.243          0              90             0
  49  Drawer          -1.629         0.486          -0.550         0              90             0
  50  Drawer          -1.629         0.291          0.243          0              90             0
  51  Drawer          -1.629         0.291          -0.550         0              90             0
  52  Drawer          -1.630         0.486          0.243          0              90             0
  53  SideTable       1.576          -0.001         2.137          0              180            0
  54  Drawer          1.576          0.163          2.070          0              180            0
  55  Drawer          1.576          0.455          2.070          0              180            0
  56  SideTable       2.437          -0.001         -1.603         0              0              0
  57  Drawer          2.438          0.163          -1.536         0              0              0
  58  Drawer          2.438          0.455          -1.536         0              0              0
  59  ArmChair        2.393          -0.001         1.943          0              180            0
  60  NorthWall
  61  EastWall
  62  SouthWall
  63  WestWall

Plan:
STEP 1: turn left, head to the lamp | STEP 2: take the white pen from the end table | STEP 3: turn left, head across the room | STEP 4: put the pen on the black shelf in the bowl | END