Task: Putting a bowl with a pencil in it on the 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           -5.75          0.907          0.5            0              90             0
   1  Bowl            -4.295         0.756          -0.131         0              0              0              56
   2  TissueBox       -4.112         0.756          -0.379         0              0              0              56
   3  Newspaper       -1.320         0.456          2.086          0              0              0              57
   4  Watch           0.585          0.198          2.605          0              0              0              42
   5  Vase            0.664          0.554          3.056          0              0              0              41
   6  Pencil          -3.930         0.758          -0.626         0              0              0              53
   7  Pencil          -0.925         0.884          0.140          0              90             0              58
   8  Pencil          0.226          0.362          2.993          0              180            0              43
   9  KeyChain        -4.477         0.755          -0.379         0              0              0              56
  10  Book            -4.477         0.755          -0.626         0              0              0              54
  11  Book            -1.554         0.450          3.031          0              0              0              57
  12  CellPhone       0.147          0.552          2.605          0              0              0              41
  13  CreditCard      0.405          0.551          2.153          0              0              0              41
  14  CreditCard      -1.437         0.449          1.849          0              0              0              57
  15  Book            0.492          0.552          2.304          0              0              0              41
  16  Box             0.957          0.286          6.189          0              327.955        0              49
  17  Pillow          0.438          0.581          5.162          321.968        0              0              49
  18  Bowl            -4.842         0.756          -0.626         0              0              0              56
  19  WateringCan     -0.816         0.005          0.189          0              0              0
  20  TissueBox       -3.747         0.756          -0.379         0              0              0              56
  21  Newspaper       -4.659         0.761          -0.008         0              0              0              50
  22  CreditCard      0.493          0.423          4.496          0              90             0              48
  23  KeyChain        0.709          0.424          4.246          0              90             0              48
  24  Boots           -6.309         0.006          1.252          0              92.842         0
  25  Pencil          -1.029         0.884          0.101          0              90             0              58
  26  Laptop          -1.087         0.448          3.031          0              0              0              57
  27  Vase            0.233          0.554          2.153          0              0              0              41
  28  RemoteControl   -1.671         0.452          1.849          0              0              0              57
  29  Watch           0.650          0.198          2.993          0              0              0              42
  30  CellPhone       0.628          0.431          4.787          0              0              0              49
  31  Plate           -4.044         0.748          -0.078         0              0              0              55
  32  Painting        -6.5           1.759          -0.341         0              0              0
  33  Painting        0.704          1.778          0.782          0              0              0
  34  Television      1.5            1.690          2.562          0              270            0
  35  FloorLamp       1.111          0.007          6.805          0              0              0
  36  GarbageCan      -6.128         -0.003         2.800          0              0              0
  37  LightSwitch     -6.5           1.498          1.345          0              90             0
  38  HousePlant      -0.753         0.874          0.209          0              0              0
  39  Window          1.496          1.712          4.454          90             90             0
  40  Window          -4.210         1.577          -1.980         90             180            0
  41  CoffeeTable     0.405          0.008          2.605          0              270            0
  42  Drawer          0.597          0.234          2.604          0              270            0
  43  Drawer          0.214          0.393          2.604          0              270            0
  44  Drawer          0.214          0.234          2.609          0              270            0
  45  Drawer          0.214          0.075          2.604          0              270            0
  46  Drawer          0.597          0.075          2.604          0              270            0
  47  Drawer          0.597          0.393          2.604          0              270            0
  48  Ottoman         0.493          0.006          4.309          0              0              0
  49  ArmChair        0.420          0.014          5.129          0              180            0
  50  Chair           -4.664         0.008          0.164          0              180            0
  51  Chair           -3.424         0.008          -0.321         0              270            0
  52  Chair           -4.988         0.008          -0.401         0              90             0
  53  Chair           -3.904         0.008          -0.827         0              0              0
  54  Chair           -4.570         0.008          -0.831         0              0              0
  55  Chair           -3.996         0.008          0.091          0              180            0
  56  DiningTable     -4.295         0.006          -0.378         0              0              0
  57  Sofa            -1.527         0.013          2.559          0              90             0
  58  SideTable       -1.030         0.006          0.160          0              0              0
  59  Drawer          -1.030         0.780          0.225          0              0              0
  60  NorthWall
  61  EastWall
  62  SouthWall
  63  WestWall

Plan:
STEP 1: Go straight and stop at the black end table | STEP 2: Grab a pencil off of the table | STEP 3: Turn right and stop at the dinner table | STEP 4: Put the pencil in the bowl on the table | STEP 5: Grab the bowl off of the table | STEP 6: Turn left and go to the coffee table | STEP 7: Put the bowl down on the table | END