Task: Put a bowl with a pen in it on a night stand.

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          1.0            0              0              0
   1  Bowl            -1.699         1.146          -1.731         0              90             0              43
   2  Statue          -1.509         0.982          -0.742         0              0              0              48
   3  Statue          1.731          0.691          2.082          0              0              0              58
   4  CellPhone       2.128          0.433          1.590          0              90             0              64
   5  CellPhone       -1.608         0.410          0.534          0              0              0              57
   6  Pen             2.360          0.686          -1.717         0              0              0              61
   7  Pen             -1.668         1.152          -1.959         0              90             0              43
   8  CreditCard      2.283          0.680          -1.536         0              0              0              61
   9  CreditCard      1.498          0.680          2.353          0              0              0              58
  10  KeyChain        -1.762         1.147          -2.073         0              180            0              43
  11  Book            1.743          0.774          -0.990         0              0              0              30
  12  Book            -1.664         0.605          0.350          0              0              0              50
  13  Pillow          0.778          0.836          0.188          0              0              0              30
  14  Book            -1.552         0.216          0.162          0              0              0              55
  15  KeyChain        2.408          0.437          1.671          0              270            0              64
  16  AlarmClock      -1.699         1.146          -2.415         0              90             0              43
  17  Pillow          0.296          0.836          -0.695         0              0              0              30
  18  Pillow          0.778          0.836          -0.990         0              0              0              30
  19  Vase            -1.699         1.147          -2.187         0              90             0              43
  20  Laptop          -1.628         0.965          0.084          0              104.999        0              48
  21  Vase            -1.650         1.626          -2.316         0              0              0              42
  22  Pencil          1.731          0.686          2.308          0              0              0              58
  23  CreditCard      2.323          0.082          -1.568         0              180            0              62
  24  Boots           -1.842         0.000          -1.077         0              135            0
  25  Pen             2.515          0.686          -1.762         0              0              0              61
  26  CellPhone       1.576          0.681          2.172          0              0              0              58
  27  CD              2.360          0.680          -1.626         0              0              0              61
  28  Bowl            -1.699         1.637          -2.073         0              90             0              42
  29  Statue          -1.764         0.965          -0.758         0              59.718         0              48
  30  Bed             1.017          0.003          -0.686         0              180            0
  31  HousePlant      -1.749         0.971          0.463          0              0              0
  32  GarbageCan      -1.665         -0.000         0.953          0              45             0
  33  Painting        0.381          1.976          -1.895         90             0              0
  34  Painting        0.879          1.976          -1.895         90             0              0
  35  Painting        1.373          1.976          -1.895         90             0              0
  36  LightSwitch     -0.164         1.085          2.450          0              180            0
  37  Mirror          -1.950         1.735          -0.206         0              270            0
  38  Window          -1.098         1.570          -3.230         90             0              0
  39  DeskLamp        1.404          0.668          2.209          0              0              0
  40  DeskLamp        2.596          0.668          -1.710         0              0              0
  41  Blinds          -1.062         2.361          -3.173         0              0              0
  42  Shelf           -1.675         1.871          -2.053         0              90             0
  43  Shelf           -1.675         1.383          -2.053         0              90             0
  44  Drawer          -1.715         0.832          -2.053         0              90             0
  45  ShelvingUnit    -1.723         0.007          -2.053         0              90             0
  46  Drawer          -1.713         0.339          -2.053         0              90             0
  47  Drawer          -1.629         0.104          0.243          0              90             0
  48  Dresser         -1.674         0.000          -0.153         0              90             0
  49  Drawer          -1.630         0.868          -0.550         0              90             0
  50  Drawer          -1.630         0.680          0.243          0              90             0
  51  Drawer          -1.629         0.104          -0.550         0              90             0
  52  Drawer          -1.630         0.680          -0.550         0              90             0
  53  Drawer          -1.630         0.868          0.243          0              90             0
  54  Drawer          -1.629         0.486          -0.550         0              90             0
  55  Drawer          -1.629         0.291          0.243          0              90             0
  56  Drawer          -1.629         0.291          -0.550         0              90             0
  57  Drawer          -1.630         0.486          0.243          0              90             0
  58  SideTable       1.576          -0.001         2.137          0              180            0
  59  Drawer          1.576          0.163          2.070          0              180            0
  60  Drawer          1.576          0.455          2.070          0              180            0
  61  SideTable       2.437          -0.001         -1.603         0              0              0
  62  Drawer          2.438          0.163          -1.536         0              0              0
  63  Drawer          2.438          0.455          -1.536         0              0              0
  64  ArmChair        2.393          -0.001         1.943          0              180            0
  65  NorthWall
  66  EastWall
  67  SouthWall
  68  WestWall

Plan:
STEP 1: Turn right, go forward to the wall, turn right, go forward to the night stand. | STEP 2: Take the pen from the night stand. | STEP 3: Turn around, go forward, after passing the end of the bed turn left, go forward, after passing the end of the bed turn left, go forward to the top of the bed, turn right, go to the dresser. | STEP 4: Put the pen in the bowl on the shelf of the dresser. | STEP 5: Take the bowl from the shelf of the dresser. | STEP 6: Turn right, go around the bed back to the night stand where the pen came from. | STEP 7: Put the bowl behind the CD on the night stand. | END