Task: Place a pencil from the desk into a bowl, return the pencil in the bowl back to the desk.

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          0.0            0              90             0
   1  Mug             1.310          1.136          1.558          0              270            0              37
   2  CD              0.021          0.692          -1.616         0              0              0              42
   3  CellPhone       1.220          0.732          1.066          0              0              0              40
   4  CreditCard      1.373          1.138          1.089          0              270            0              37
   5  CreditCard      0.078          0.388          -1.617         0              0              0              44
   6  KeyChain        1.173          0.076          1.595          0              0              0              38
   7  AlarmClock      1.278          1.139          1.246          0              270            0              37
   8  Laptop          0.829          0.776          -0.440         0              0              0              29
   9  Book            0.955          0.780          -0.988         0              0              0              29
  10  Box             -1.233         0.263          -1.435         0              312.675        0
  11  CellPhone       1.080          0.782          -0.166         0              0              0              29
  12  BaseballBat     -1.717         0.708          -0.677         0              0              12.045
  13  Bowl            0.255          0.690          -1.749         0              0              0              42
  14  BasketBall      -1.64          0.127          -1.652         0              0              0
  15  Laptop          1.223          0.721          1.342          0              255.000        0              40
  16  CreditCard      1.084          0.728          0.901          0              0              0              40
  17  KeyChain        1.405          1.139          1.246          0              270            0              37
  18  AlarmClock      1.342          1.131          0.961          0              270            0              37
  19  Pencil          1.247          1.142          1.089          0              270            0              37
  20  Pillow          1.080          0.849          0.107          0              0              0              29
  21  CD              0.021          0.689          -1.794         0              0              0              42
  22  Pen             1.173          0.558          1.666          0              0              0              39
  23  Mug             1.278          1.136          1.402          0              90             0              37
  24  Poster          0.978          1.970          -1.868         90             0              0
  25  Mirror          -0.884         1.350          2.086          0              0              0
  26  Poster          1.483          1.978          -1.210         90             270            0
  27  Poster          1.483          1.503          -0.128         90             270            0
  28  Poster          1.483          2.138          -0.128         90             270            0
  29  Bed             0.955          0.002          -0.722         0              0              0
  30  GarbageCan      1.133          0.032          0.581          0              0              0
  31  DeskLamp        -0.396         0.664          -1.666         0              315            0
  32  LightSwitch     0.554          1.154          2.079          0              180            0
  33  Window          -0.174         1.006          -2.009         90             0              0
  34  LaundryHamper   -1.425         0.006          1.676          0              149.999        0
  35  Chair           1.127          -8.434         1.053          0              90             0
  36  Blinds          -0.145         1.679          -1.986         0              0              0
  37  Shelf           1.316          1.174          1.388          0              270            0
  38  Drawer          1.099          0.167          1.724          0              270            0
  39  Drawer          1.099          0.622          1.724          0              270            0
  40  Desk            1.189          0.002          1.384          0              270            0
  41  Drawer          1.099          0.408          1.724          0              270            0
  42  SideTable       -0.103         -0.000         -1.691         0              0              0
  43  Drawer          -0.104         0.157          -1.618         0              0              0
  44  Drawer          -0.104         0.456          -1.618         0              0              0
  45  NorthWall
  46  EastWall
  47  SouthWall
  48  WestWall

Plan:
STEP 1: Back away from the bed, turn left toward the door, then turn right in front of the desk. | STEP 2: Grab a pencil off the top shelf of the desk. | STEP 3: Turn right facing the wall, take a step, then turn left toward the bed, go along the bed to the drawer. | STEP 4: At the drawer place the pencil on the bowl next to the discs. | STEP 5: Remove the bowl with the pencil from the drawers. | STEP 6: Turn back around and walk down the bed toward the door, turn right at the door to the desk. | STEP 7: Place the bowl with pencil inside on the desk to the left of the laptop. | END