Task: Put a pencil inside of a bowl and put the bowl with the pencil onto the table in front of the sofa

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -6.0           0.907          -1.75          0              270            0
   1  TissueBox       0.578          0.553          3.056          0              0              0              37
   2  Newspaper       -1.087         0.456          3.031          0              0              0              53
   3  Watch           0.664          0.552          2.153          0              0              0              37
   4  Watch           0.233          0.552          2.153          0              0              0              37
   5  Pencil          -4.477         0.758          -0.626         0              0              0              50
   6  KeyChain        -1.671         0.450          2.086          0              0              0              53
   7  KeyChain        0.171          0.424          4.309          0              90             0              44
   8  CellPhone       -4.477         0.754          -0.008         0              0              0              46
   9  CellPhone       0.147          0.552          2.304          0              0              0              37
  10  RemoteControl   -4.112         0.757          -0.749         0              0              0              49
  11  Book            0.601          0.425          4.246          0              90             0              44
  12  Box             0.957          0.286          6.189          0              327.955        0              45
  13  Pillow          0.438          0.581          5.162          321.968        0              0              45
  14  Bowl            -4.837         0.747          -0.357         0              0              0              48
  15  WateringCan     -0.816         0.005          0.189          0              0              0
  16  TissueBox       -4.477         0.756          -0.502         0              0              0              52
  17  Newspaper       0.816          0.430          4.309          0              90             0              44
  18  CreditCard      0.386          0.423          4.121          0              90             0              44
  19  KeyChain        0.664          0.552          2.755          0              0              0              37
  20  Boots           -6.309         0.006          1.252          0              92.842         0
  21  Pencil          0.405          0.555          2.153          0              0              0              37
  22  Laptop          -1.320         0.448          2.086          0              0              0              53
  23  Vase            -4.842         0.757          -0.008         0              0              0              46
  24  RemoteControl   -1.132         0.883          0.218          0              90             0              54
  25  Watch           0.233          0.552          2.605          0              0              0              37
  26  CellPhone       -1.340         0.881          0.179          0              90             0              54
  27  Plate           -4.044         0.748          -0.078         0              0              0              51
  28  Painting        -6.5           1.759          -0.341         0              0              0
  29  Painting        0.704          1.778          0.782          0              0              0
  30  Television      1.5            1.690          2.562          0              270            0
  31  FloorLamp       1.111          0.007          6.805          0              0              0
  32  GarbageCan      -6.128         -0.003         2.800          0              0              0
  33  LightSwitch     -6.5           1.498          1.345          0              90             0
  34  HousePlant      -0.753         0.874          0.209          0              0              0
  35  Window          1.496          1.712          4.454          90             90             0
  36  Window          -4.210         1.577          -1.980         90             180            0
  37  CoffeeTable     0.405          0.008          2.605          0              270            0
  38  Drawer          0.597          0.234          2.604          0              270            0
  39  Drawer          0.214          0.393          2.604          0              270            0
  40  Drawer          0.214          0.234          2.609          0              270            0
  41  Drawer          0.214          0.075          2.604          0              270            0
  42  Drawer          0.597          0.075          2.604          0              270            0
  43  Drawer          0.597          0.393          2.604          0              270            0
  44  Ottoman         0.493          0.006          4.309          0              0              0
  45  ArmChair        0.420          0.014          5.129          0              180            0
  46  Chair           -4.664         0.008          0.164          0              180            0
  47  Chair           -3.424         0.008          -0.321         0              270            0
  48  Chair           -4.988         0.008          -0.401         0              90             0
  49  Chair           -3.904         0.008          -0.827         0              0              0
  50  Chair           -4.570         0.008          -0.831         0              0              0
  51  Chair           -3.996         0.008          0.091          0              180            0
  52  DiningTable     -4.295         0.006          -0.378         0              0              0
  53  Sofa            -1.527         0.013          2.559          0              90             0
  54  SideTable       -1.030         0.006          0.160          0              0              0
  55  Drawer          -1.030         0.780          0.225          0              0              0
  56  NorthWall
  57  EastWall
  58  SouthWall
  59  WestWall

Plan:
STEP 1: look down and turn around then walk straight towards the wooden table and turn left | STEP 2: pick up the pencil in front of the tissue box on the table | STEP 3: look up and turn around towards the window then turn right again and walk straight towards the wall and then turn right again and walk straight then another right at the edge of the table | STEP 4: look down at the table and put the pencil into the empty bowl | STEP 5: pick up the bowl with the pencil inside of it off the table | STEP 6: look up and turn left then walk straight then turn right and walk straight towards the sofa and turn left and then right at the sofa then walk straight in front of the sofa and turn left and then turn right at the small table in front of the sofa | STEP 7: look down and put the pencil and bowl onto the table | END