Task: To put the pencil on the plate.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.910          -0.5           0              90             0
   1  Mug             2.889          0.805          2.392          0              0              0              51
   2  Mug             2.367          0.805          2.833          0              0              0              51
   3  Bowl            2.576          0.809          3.494          0              0              0              51
   4  CD              2.185          0.399          -0.594         0              270            0              55
   5  CD              2.529          0.842          0.230          0              0              0              52
   6  CellPhone       -1.397         0.399          -1.314         0              90             0              49
   7  CellPhone       2.680          0.808          3.274          0              0              0              51
   8  Pen             2.680          0.813          3.715          0              0              0              51
   9  Pen             2.529          0.848          0.361          0              0              0              52
  10  Pencil          2.770          0.846          0.492          0              0              0              52
  11  Pencil          -0.946         0.916          4.717          0              0              0              40
  12  Pencil          2.618          0.462          0.624          0              0              0              54
  13  CreditCard      2.367          0.808          2.613          0              0              0              51
  14  CreditCard      2.680          0.808          2.833          0              0              0              51
  15  KeyChain        -1.038         0.400          -1.314         0              90             0              49
  16  KeyChain        2.770          0.843          0.230          0              0              0              52
  17  Book            -1.073         0.713          1.408          0              0              0              37
  18  RemoteControl   2.533          0.460          0.819          0              0              0              54
  19  RemoteControl   -1.307         0.401          -0.966         0              90             0              49
  20  AlarmClock      -0.881         0.921          4.900          0              0              0              40
  21  AlarmClock      -1.012         0.921          4.35           0              0              0              40
  22  Pillow          -1.128         0.470          -1.053         0              90             0              49
  23  Book            -0.355         0.713          2.539          0              0              0              37
  24  AlarmClock      2.471          0.816          3.053          0              0              0              51
  25  CellPhone       2.618          0.097          0.721          0              0              0              53
  26  Bowl            2.471          0.809          3.274          0              0              0              51
  27  CreditCard      2.784          0.807          3.715          0              0              0              51
  28  KeyChain        2.095          0.400          -0.507         0              270            0              55
  29  RemoteControl   2.69           0.844          1.017          0              0              0              52
  30  Laptop          -0.946         0.911          3.982          0              0              0              40
  31  Pencil          2.447          0.749          -1.372         0              0              0              48
  32  Pillow          -1.312         0.785          1.973          0              0              0              37
  33  Pillow          -0.833         0.785          1.973          0              0              0              37
  34  CD              2.660          0.094          0.428          0              0              0              53
  35  Pen             -1.012         0.919          4.900          0              0              0              40
  36  Mug             2.889          0.805          3.494          0              0              0              51
  37  Bed             -0.594         0.009          2.298          0              0              0
  38  Mirror          -1.184         1.603          4.348          0              0              0
  39  Television      2.738          1.330          0.622          0              270            0
  40  CounterTop      -0.890         0.951          4.349          0              0              0
  41  LightSwitch     0.800          1.371          5.245          0              90             0
  42  Painting        2.992          1.529          3.415          90             270            0
  43  Painting        2.992          1.529          2.553          90             270            0
  44  DeskLamp        2.625          0.772          -1.469         0              0              0
  45  DeskLamp        2.668          0.810          3.082          0              358.947        0
  46  GarbageCan      -0.626         -0.009         3.742          0              0              0
  47  Window          -0.453         1.450          -2.058         90             180            0
  48  SideTable       2.565          0.009          -1.534         0              0              0
  49  ArmChair        -1.277         0.009          -1.169         0              90             0
  50  Blinds          -0.5           2.174          -1.957         0              0              0
  51  Desk            2.572          0.011          3.054          0              270            0
  52  SideTable       2.645          0.009          0.624          0              270            0
  53  Drawer          2.525          0.214          0.624          0              270            0
  54  Drawer          2.525          0.578          0.624          0              270            0
  55  ArmChair        2.424          0.009          -0.564         0              270            0
  56  LaundryHamper   3.457          0.009          4.555          0              270            0
  57  Chair           2.591          0.020          2.015          0              0              0
  58  Chair           2.184          0.020          3.440          0              120.016        0
  59  Chair           2.211          0.020          2.592          0              74.981         0
  60  NorthWall
  61  EastWall
  62  SouthWall
  63  WestWall

Plan:
STEP 1: Walk forward for two steps, then turn left and walk to the edge of the bed, then turn right and walk to the table.  | STEP 2: Pick up the bowl that is closest to the lamp on the table.  | STEP 3: Turn left and take two steps, then turn left and walk across the room.  | STEP 4: Put the plate down on the counter.  | STEP 5: Pick up the blue pencil to the right of the plate.  | STEP 6: Place the pencil on the plate.  | END