Task: Put a bowl holding a pencil onto a coffee table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -4.0           0.902          3.0            0              270            0
   1  Bowl            -2.934         0.688          1.670          0              0              0              56
   2  Bowl            -2.712         0.688          1.175          0              0              0              58
   3  Bowl            -2.712         0.688          1.670          0              0              0              59
   4  Plate           -1.825         0.689          1.793          0              0              0              57
   5  TissueBox       -2.241         0.347          5.042          0              0              0              47
   6  Newspaper       -2.318         0.350          4.809          0              0              0              47
   7  Newspaper       -2.385         0.239          6.046          0              0              0              48
   8  Watch           -2.473         0.098          4.887          0              0              0              49
   9  Watch           -2.767         0.724          6.296          0              0              0              50
  10  Statue          -2.636         0.243          6.119          0              0              0              48
  11  Statue          -2.047         0.695          1.546          0              0              0              45
  12  Vase            -2.134         0.242          6.156          0              0              0              48
  13  CreditCard      -0.313         0.616          3.445          0              0              0              42
  14  Laptop          -2.139         0.478          3.705          0              0              0              51
  15  Book            -1.872         0.680          1.167          0              0              0              55
  16  Box             -3.362         0.219          6.426          0              0              0              48
  17  Statue          -1.603         0.695          1.670          0              0              0              57
  18  Laptop          -1.609         0.478          3.615          0              0              0              51
  19  TissueBox       -1.974         0.749          -0.028         0              0              0              53
  20  CreditCard      -2.951         0.604          0.066          0              0              0              52
  21  Plate           -2.253         0.747          -0.072         0              0              0              53
  22  KeyChain        -2.241         0.098          4.809          0              0              0              49
  23  Vase            -2.241         0.101          4.964          0              0              0              49
  24  Pencil          -4.895         0.056          0.171          0              90             0              35
  25  Pillow          -3.271         0.661          3.44           0              0              331.220        51
  26  Bowl            -2.934         0.688          1.052          0              0              0              45
  27  RemoteControl   -2.368         0.651          -0.077         0              0              0              54
  28  Watch           -2.259         0.238          6.046          0              0              0              48
  29  Pen             -0.316         0.711          3.200          0              90             0              41
  30  Newspaper       -3.198         0.481          3.436          0              0              0              51
  31  Painting        -2.048         1.615          -0.303         0              0              0
  32  Curtains        -0.083         2.420          0.969          0              0              0
  33  Television      -2.357         1.205          6.245          0              180            0
  34  HousePlant      -2.933         0.595          -0.093         0              0              0
  35  GarbageCan      -4.864         -0.001         0.267          0              90             0
  36  FloorLamp       -0.566         0.002          0.024          0              316.932        0
  37  DeskLamp        -0.273         0.700          3.612          0              0              0
  38  Window          -0.057         0.925          1.764          90             270            0
  39  Window          -0.057         1.130          4.886          90             270            0
  40  LightSwitch     -3.305         1.340          -0.314         0              0              0
  41  SideTable       -0.255         0.001          3.369          0              270            0
  42  Drawer          -0.306         0.626          3.369          0              270            0
  43  ArmChair        -4.376         -8.374         6.016          0              152.639        0
  44  ArmChair        -0.847         -8.106         5.983          0              231.318        0
  45  DiningTable     -2.268         -0.016         1.422          0              0              0
  46  CoffeeTable     -2.326         0.002          4.922          0              0              0
  47  Shelf           -2.326         0.338          4.922          0              0              0
  48  Shelf           -2.385         0.238          6.296          0              0              0
  49  Shelf           -2.326         0.089          4.922          0              0              0
  50  TVStand         -2.385         0.006          6.296          0              0              0
  51  Sofa            -2.404         -0.003         3.417          0              0              0
  52  SideTable       -2.935         0.004          -0.103         0              0              0
  53  SideTable       -2.113         0.002          -0.139         0              0              0
  54  Drawer          -2.113         0.654          -0.069         0              0              0
  55  Chair           -1.862         0.020          1.035          0              0              0
  56  Chair           -3.122         0.020          1.410          0              104.999        0
  57  Chair           -1.864         0.020          1.838          0              185.032        0
  58  Chair           -2.507         0.020          0.991          0              6.189          0
  59  Chair           -2.519         0.020          1.882          0              164.977        0
  60  Chair           -1.335         0.020          1.430          0              270            0
  61  NorthWall
  62  EastWall
  63  SouthWall
  64  WestWall

Plan:
STEP 1: Turn left and go to the black wastebasket in the corner to your right. | STEP 2: Take the pencil out of the wastebasket. | STEP 3: Turn right and go to the nearest corner of the dining table. | STEP 4: Put the pencil into the bowl nearest that corner. | STEP 5: Pick up the bowl with the pencil in it. | STEP 6: Go around the left side of the table and sofa, to the coffee table that is in front of the sofa. | STEP 7: Put the bowl on top of the coffee table on the side closer to the sofa. | END