Task: Move the pen on the table to the bowl on top shelf, put the bowl back on the table

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          1.0            0              0              0
   1  CD              1.192          0.382          0.046          0              270            0              35
   2  CD              1.226          1.410          -0.671         0              270            0              36
   3  Pen             0.623          0.582          -2.318         0              0              0              43
   4  Pen             0.623          0.582          -2.427         0              0              0              43
   5  CellPhone       -1.544         1.522          -1.715         0              270            0              37
   6  CellPhone       -1.332         0.697          -2.191         0              0              0              48
   7  Laptop          -1.323         0.609          0.618          0              0              0              25
   8  AlarmClock      1.192          0.383          -0.242         0              270            0              35
   9  Book            -1.082         0.610          -0.223         0              0              0              25
  10  KeyChain        -1.269         0.700          -2.336         0              0              0              48
  11  BaseballBat     1.436          0.636          1.985          21.882         0              0
  12  BasketBall      1.270          0.12           -1.290         0              345.557        0
  13  Pencil          0.780          0.582          -2.537         0              0              0              43
  14  CellPhone       1.172          0.238          -1.929         0              0              0              23
  15  CreditCard      1.277          0.370          -1.929         0              0              0              23
  16  Laptop          0.076          0.569          -2.456         0              0              0              43
  17  Pillow          -1.170         0.684          -0.990         0              0              0              25
  18  Boots           1.288          0.000          -0.961         0              177.912        0
  19  Pen             0.623          0.582          -2.537         0              0              0              43
  20  AlarmClock      -1.544         1.521          -2.004         0              270            0              37
  21  CD              1.172          0.105          -1.894         0              0              0              24
  22  Bowl            -1.611         1.521          -2.293         0              270            0              37
  23  Drawer          0.980          0.271          -1.963         0              0              0
  24  Drawer          0.980          0.139          -1.963         0              0              0
  25  Bed             -1.209         0.016          -0.266         0              180            1.624
  26  Shelf           1.220          0.859          -1.802         0              270            0
  27  Drawer          0.980          0.404          -1.963         0              0              0
  28  Drawer          0.980          0.272          -1.639         0              0              0
  29  Mirror          0.740          1.491          2.099          0              0              0
  30  Drawer          0.980          0.139          -1.639         0              0              0
  31  Drawer          0.980          0.404          -1.639         0              0              0
  32  Chair           0.280          -0.001         -2.264         0              180            0
  33  GarbageCan      -1.542         0.013          1.919          2.249          116.925        355.175
  34  Shelf           1.259          0.903          -0.269         0              270            0
  35  Shelf           1.259          0.375          -0.263         0              270            0
  36  Shelf           1.259          1.402          -0.259         0              270            0
  37  Shelf           -1.577         1.513          -2.025         0              270            0
  38  LightSwitch     -0.755         1.176          2.099          0              180            0
  39  DeskLamp        -1.489         0.669          -2.419         0              0              0
  40  Window          0.243          0.963          -2.678         90             0              0
  41  Window          -0.361         0.963          -2.679         90             0              0
  42  Window          -0.962         0.963          -2.678         90             0              0
  43  Desk            0.445          0.001          -2.430         0              0              0
  44  Blinds          -0.349         2.186          -2.685         0              0              0
  45  Blinds          0.250          2.186          -2.685         0              0              0
  46  Blinds          -0.952         2.186          -2.685         0              0              0
  47  Drawer          -1.314         0.163          -2.051         0              90             0
  48  SideTable       -1.444         -0.001         -2.051         0              90             0
  49  Drawer          -1.314         0.455          -2.051         0              90             0
  50  NorthWall
  51  EastWall
  52  SouthWall
  53  WestWall

Plan:
STEP 1: Turn around, walk to the white table | STEP 2: Grab the pen by the pencil | STEP 3: Turn right, walk to the cabinet by the window | STEP 4: Put the pen in the bowl at the top shelf | STEP 5: Grab the bowl with the pen in it | STEP 6: Turn around, walk back to the white table | STEP 7: Put the bowl with the pen on the table | END