Task: Put a glass bowl with a pen in it on a nightstand.

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          0.75           0              90             0
   1  CD              1.098          0.075          1.950          0              0              0              39
   2  CellPhone       0.704          0.782          -0.440         0              0              0              30
   3  Pen             1.022          0.321          1.879          0              90             0              42
   4  Pencil          1.098          0.319          1.879          0              0              0              42
   5  Pencil          0.255          0.693          -1.616         0              0              0              43
   6  CreditCard      1.405          1.138          0.933          0              270            0              38
   7  KeyChain        1.342          1.139          1.246          0              270            0              38
   8  KeyChain        1.342          1.139          1.402          0              270            0              38
   9  AlarmClock      1.310          1.139          1.089          0              270            0              38
  10  Book            1.205          0.780          -0.714         0              0              0              30
  11  Box             -1.233         0.263          -1.435         0              312.675        0
  12  CellPhone       1.173          0.319          1.808          0              0              0              42
  13  BaseballBat     -1.717         0.708          -0.677         0              0              12.045
  14  Bowl            1.341          1.138          1.558          0              270            0              38
  15  BasketBall      -1.64          0.127          -1.652         0              0              0
  16  Laptop          1.223          0.721          1.342          0              255.000        0              41
  17  CreditCard      1.247          1.138          1.402          0              270            0              38
  18  KeyChain        1.423          0.729          1.727          0              0              0              41
  19  AlarmClock      1.220          0.729          0.901          0              0              0              41
  20  Pencil          1.220          0.732          1.066          0              0              0              41
  21  Pillow          0.872          0.816          -1.513         0              0              0              30
  22  CD              -0.213         0.689          -1.616         0              0              0              43
  23  Pen             1.084          0.734          0.901          0              0              0              41
  24  Mug             1.356          0.727          1.066          0              90             0              41
  25  Poster          0.978          1.970          -1.868         90             0              0
  26  Mirror          -0.884         1.350          2.086          0              0              0
  27  Poster          1.483          1.978          -1.210         90             270            0
  28  Poster          1.483          1.503          -0.128         90             270            0
  29  Poster          1.483          2.138          -0.128         90             270            0
  30  Bed             0.955          0.002          -0.722         0              0              0
  31  GarbageCan      1.133          0.032          0.581          0              0              0
  32  DeskLamp        -0.396         0.664          -1.666         0              315            0
  33  LightSwitch     0.554          1.154          2.079          0              180            0
  34  Window          -0.174         1.006          -2.009         90             0              0
  35  LaundryHamper   -1.425         0.006          1.676          0              149.999        0
  36  Chair           1.127          -8.434         1.053          0              90             0
  37  Blinds          -0.145         1.679          -1.986         0              0              0
  38  Shelf           1.316          1.174          1.388          0              270            0
  39  Drawer          1.099          0.167          1.724          0              270            0
  40  Drawer          1.099          0.622          1.724          0              270            0
  41  Desk            1.189          0.002          1.384          0              270            0
  42  Drawer          1.099          0.408          1.724          0              270            0
  43  SideTable       -0.103         -0.000         -1.691         0              0              0
  44  Drawer          -0.104         0.157          -1.618         0              0              0
  45  Drawer          -0.104         0.456          -1.618         0              0              0
  46  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: Turn left and walk towards the door, then turn right and walk up to the wooden desk. | STEP 2: Pick up the black pen off of the desk. | STEP 3: Turn left and walk towards the wall, then turn right to face the wooden desk. | STEP 4: Put the black pen in the glass bowl on the wooden desk. | STEP 5: Pick up the glass bowl with the pen in it off of the desk. | STEP 6: Turn around and walk towards the wall, then hang a left and walk up to the nightstand next to the bed. | STEP 7: Put the glass bowl with the pen in it on the wooden nightstand. | END