Task: put a pencil and bowl on a set of keys

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.910          0.25           0              270            0
   1  CD              -0.617         0.053          3.722          0              0              0              32
   2  Pencil          2.784          0.811          3.053          0              0              0              37
   3  Pencil          2.367          0.810          3.053          0              0              0              37
   4  Pencil          2.576          0.810          3.053          0              0              0              37
   5  KeyChain        -0.749         0.914          4.717          0              0              0              26
   6  Book            -0.881         0.912          4.35           0              0              0              26
   7  RemoteControl   -1.012         0.914          4.717          0              0              0              26
   8  AlarmClock      -0.815         0.921          4.533          0              0              0              26
   9  Book            -1.307         0.399          -1.053         0              90             0              35
  10  AlarmClock      2.595          0.753          -1.300         0              0              0              34
  11  CellPhone       2.618          0.097          0.721          0              0              0              39
  12  Bowl            2.367          0.809          3.494          0              0              0              37
  13  CreditCard      2.69           0.842          0.624          0              0              0              38
  14  KeyChain        2.784          0.808          2.833          0              0              0              37
  15  RemoteControl   2.185          0.401          -0.681         0              270            0              41
  16  Laptop          0.123          0.712          1.973          0              0              0              23
  17  Pencil          2.680          0.810          3.274          0              0              0              37
  18  Pillow          -0.959         0.752          2.977          0              0              0              23
  19  Pillow          -1.312         0.785          2.256          0              0              0              23
  20  CD              2.533          0.096          0.330          0              0              0              39
  21  Pen             2.595          0.751          -1.659         0              0              0              34
  22  Mug             2.576          0.805          3.494          0              0              0              37
  23  Bed             -0.594         0.009          2.298          0              0              0
  24  Mirror          -1.184         1.603          4.348          0              0              0
  25  Television      2.738          1.330          0.622          0              270            0
  26  CounterTop      -0.890         0.951          4.349          0              0              0
  27  LightSwitch     0.800          1.371          5.245          0              90             0
  28  Painting        2.992          1.529          3.415          90             270            0
  29  Painting        2.992          1.529          2.553          90             270            0
  30  DeskLamp        2.625          0.772          -1.469         0              0              0
  31  DeskLamp        2.668          0.810          3.082          0              358.947        0
  32  GarbageCan      -0.626         -0.009         3.742          0              0              0
  33  Window          -0.453         1.450          -2.058         90             180            0
  34  SideTable       2.565          0.009          -1.534         0              0              0
  35  ArmChair        -1.277         0.009          -1.169         0              90             0
  36  Blinds          -0.5           2.174          -1.957         0              0              0
  37  Desk            2.572          0.011          3.054          0              270            0
  38  SideTable       2.645          0.009          0.624          0              270            0
  39  Drawer          2.525          0.214          0.624          0              270            0
  40  Drawer          2.525          0.578          0.624          0              270            0
  41  ArmChair        2.424          0.009          -0.564         0              270            0
  42  LaundryHamper   3.457          0.009          4.555          0              270            0
  43  Chair           2.591          0.020          2.015          0              0              0
  44  Chair           2.184          0.020          3.440          0              120.016        0
  45  Chair           2.211          0.020          2.592          0              74.981         0
  46  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: walk toward the desk, stop in front of desk | STEP 2: pick up the aqua pencil from the desk to the left of the table lamp | STEP 3: continue to hold the pencil in front of the desk | STEP 4: put the pencil in the bowl in front of the white mug on the desk | STEP 5: pick up the bowl from the desk | STEP 6: turn around and find the shelf with a mirror over it, stop at the shelf | STEP 7: put the bowl on the shelf on top of the keys on the right of the shelf | END