Task: Put a glass bowl with a pen in it on an end table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.5            0.900          -0.75          0              90             0
   1  CD              -1.552         0.409          -0.813         0              0              0              50
   2  CD              2.136          0.442          2.099          0              90             0              60
   3  CellPhone       -1.494         0.800          -0.536         0              0              0              45
   4  Pen             -1.509         0.977          -0.339         0              0              0              44
   5  Pen             -1.668         1.643          -2.187         0              90             0              38
   6  Pencil          -1.668         1.151          -1.959         0              90             0              39
   7  KeyChain        -1.583         0.972          -0.138         0              0              0              44
   8  Pillow          1.743          0.836          -0.990         0              0              0              26
   9  Laptop          1.502          0.773          0.188          0              0              0              26
  10  Book            0.296          0.774          -1.284         0              0              0              26
  11  KeyChain        2.314          0.434          1.587          0              90             0              60
  12  AlarmClock      -1.699         1.146          -2.187         0              90             0              39
  13  Pillow          0.296          0.836          0.188          0              0              0              26
  14  Pillow          0.652          0.794          -1.531         0              0              0              26
  15  Vase            -1.804         0.973          0.263          0              0              0              44
  16  Laptop          0.537          0.773          -0.695         0              0              0              26
  17  Vase            -1.583         0.975          -0.540         0              0              0              44
  18  Pencil          -1.776         0.042          -0.255         0              90             0              52
  19  CreditCard      -1.730         0.970          0.062          0              0              0              44
  20  Boots           -1.842         0.000          -1.077         0              135            0
  21  Pen             -1.605         1.152          -2.415         0              90             0              39
  22  CellPhone       -1.496         0.217          -0.536         0              0              0              52
  23  CD              2.592          0.432          1.584          0              90             0              60
  24  Bowl            -1.804         0.970          -0.138         0              0              0              44
  25  Statue          -1.764         0.965          -0.758         0              59.718         0              44
  26  Bed             1.017          0.003          -0.686         0              180            0
  27  HousePlant      -1.749         0.971          0.463          0              0              0
  28  GarbageCan      -1.665         -0.000         0.953          0              45             0
  29  Painting        0.381          1.976          -1.895         90             0              0
  30  Painting        0.879          1.976          -1.895         90             0              0
  31  Painting        1.373          1.976          -1.895         90             0              0
  32  LightSwitch     -0.164         1.085          2.450          0              180            0
  33  Mirror          -1.950         1.735          -0.206         0              270            0
  34  Window          -1.098         1.570          -3.230         90             0              0
  35  DeskLamp        1.404          0.668          2.209          0              0              0
  36  DeskLamp        2.596          0.668          -1.710         0              0              0
  37  Blinds          -1.062         2.361          -3.173         0              0              0
  38  Shelf           -1.675         1.871          -2.053         0              90             0
  39  Shelf           -1.675         1.383          -2.053         0              90             0
  40  Drawer          -1.715         0.832          -2.053         0              90             0
  41  ShelvingUnit    -1.723         0.007          -2.053         0              90             0
  42  Drawer          -1.713         0.339          -2.053         0              90             0
  43  Drawer          -1.629         0.104          0.243          0              90             0
  44  Dresser         -1.674         0.000          -0.153         0              90             0
  45  Drawer          -1.630         0.868          -0.550         0              90             0
  46  Drawer          -1.630         0.680          0.243          0              90             0
  47  Drawer          -1.629         0.104          -0.550         0              90             0
  48  Drawer          -1.630         0.680          -0.550         0              90             0
  49  Drawer          -1.630         0.868          0.243          0              90             0
  50  Drawer          -1.629         0.486          -0.550         0              90             0
  51  Drawer          -1.629         0.291          0.243          0              90             0
  52  Drawer          -1.629         0.291          -0.550         0              90             0
  53  Drawer          -1.630         0.486          0.243          0              90             0
  54  SideTable       1.576          -0.001         2.137          0              180            0
  55  Drawer          1.576          0.163          2.070          0              180            0
  56  Drawer          1.576          0.455          2.070          0              180            0
  57  SideTable       2.437          -0.001         -1.603         0              0              0
  58  Drawer          2.438          0.163          -1.536         0              0              0
  59  Drawer          2.438          0.455          -1.536         0              0              0
  60  ArmChair        2.393          -0.001         1.943          0              180            0
  61  NorthWall
  62  EastWall
  63  SouthWall
  64  WestWall

Plan:
STEP 1: Turn left and walk over to the dresser on the far side of the room. | STEP 2: Pick up the pen off of the dresser. | STEP 3: Look up towards the mirror. | STEP 4: Put the pen in the glass bowl on the dresser. | STEP 5: Pick up the glass bowl with the pen in it off of the dresser. | STEP 6: Turn right and walk towards the door, then hang a right and walk over to the small end table to the left of the chair in the corner of the room. | STEP 7: Put the glass bowl on the end table to the right of the lamp. | END