Task: To put a pencil in a bowl as well as move it to the left side of the computer table.

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          -2.0           0              0              0
   1  CD              -1.645         0.696          -2.046         0              0              0              50
   2  CD              1.260          0.382          -0.097         0              270            0              37
   3  CellPhone       1.120          0.105          -1.963         0              0              0              26
   4  Pencil          -1.582         0.704          -1.610         0              0              0              50
   5  KeyChain        -1.269         0.698          -2.191         0              0              0              50
   6  KeyChain        1.269          0.506          -1.764         0              270            0              28
   7  CreditCard      1.26           0.911          -0.249         0              270            0              36
   8  Book            -1.203         0.610          -1.065         0              0              0              27
   9  AlarmClock      -1.457         0.699          -2.046         0              0              0              50
  10  AlarmClock      1.226          1.410          -0.093         0              270            0              38
  11  Book            0.623          0.569          -2.471         0              350.999        0              34
  12  KeyChain        1.259          1.412          -0.671         0              270            0              36
  13  BaseballBat     1.436          0.636          1.985          21.882         0              0
  14  BasketBall      1.270          0.12           -1.290         0              345.557        0
  15  Pencil          -1.457         0.704          -1.755         0              0              0              50
  16  CellPhone       -1.519         0.697          -2.191         0              0              0              50
  17  CreditCard      -1.577         1.521          -2.148         0              270            0              39
  18  Laptop          0.076          0.569          -2.456         0              0              0              45
  19  Pillow          -1.323         0.713          0.337          0              0              0              27
  20  Boots           1.288          0.000          -0.961         0              177.912        0
  21  Pen             1.219          0.510          -2.038         0              270            0              28
  22  AlarmClock      1.260          0.911          -0.104         0              270            0              36
  23  CD              -1.332         0.696          -1.610         0              0              0              50
  24  Bowl            -1.544         1.521          -2.437         0              270            0              39
  25  Drawer          0.980          0.271          -1.963         0              0              0
  26  Drawer          0.980          0.139          -1.963         0              0              0
  27  Bed             -1.209         0.016          -0.266         0              180            1.624
  28  Shelf           1.220          0.859          -1.802         0              270            0
  29  Drawer          0.980          0.404          -1.963         0              0              0
  30  Drawer          0.980          0.272          -1.639         0              0              0
  31  Mirror          0.740          1.491          2.099          0              0              0
  32  Drawer          0.980          0.139          -1.639         0              0              0
  33  Drawer          0.980          0.404          -1.639         0              0              0
  34  Chair           0.280          -0.001         -2.264         0              180            0
  35  GarbageCan      -1.542         0.013          1.919          2.249          116.925        355.175
  36  Shelf           1.259          0.903          -0.269         0              270            0
  37  Shelf           1.259          0.375          -0.263         0              270            0
  38  Shelf           1.259          1.402          -0.259         0              270            0
  39  Shelf           -1.577         1.513          -2.025         0              270            0
  40  LightSwitch     -0.755         1.176          2.099          0              180            0
  41  DeskLamp        -1.489         0.669          -2.419         0              0              0
  42  Window          0.243          0.963          -2.678         90             0              0
  43  Window          -0.361         0.963          -2.679         90             0              0
  44  Window          -0.962         0.963          -2.678         90             0              0
  45  Desk            0.445          0.001          -2.430         0              0              0
  46  Blinds          -0.349         2.186          -2.685         0              0              0
  47  Blinds          0.250          2.186          -2.685         0              0              0
  48  Blinds          -0.952         2.186          -2.685         0              0              0
  49  Drawer          -1.314         0.163          -2.051         0              90             0
  50  SideTable       -1.444         -0.001         -2.051         0              90             0
  51  Drawer          -1.314         0.455          -2.051         0              90             0
  52  NorthWall
  53  EastWall
  54  SouthWall
  55  WestWall

Plan:
STEP 1: Turn to the left and walk forward to face the dresser. | STEP 2: Pick up the pencil on the dresser. | STEP 3: Step to the left and look up to face a bowl on a shelf. | STEP 4: Place the pencil in the bowl on the shelf. | STEP 5: Pick up the bowl with a pencil in it. | STEP 6: Turn around and walk forward and then face the table on the right. | STEP 7: Place the bowl with a pencil in it on the left side of the table. | END