Task: Go pick up pen, place it onto bowl, then put bowl on top of desk.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.5           0.900          -0.25          0              90             0
   1  Bowl            1.356          0.729          1.562          0              0              0              41
   2  CellPhone       1.220          0.732          1.562          0              0              0              41
   3  CellPhone       1.080          0.782          -1.262         0              0              0              30
   4  Pen             1.288          0.734          1.727          0              0              0              41
   5  CreditCard      1.016          0.728          1.892          0              0              0              41
   6  CreditCard      1.060          0.075          1.737          0              0              0              39
   7  KeyChain        -0.447         0.694          -1.838         0              0              0              43
   8  KeyChain        -0.213         0.691          -1.616         0              0              0              43
   9  Laptop          0.955          0.776          -0.988         0              0              0              30
  10  Book            1.288          0.730          1.231          0              0              0              41
  11  Box             -1.233         0.263          -1.435         0              312.675        0
  12  CellPhone       1.135          0.078          1.808          0              0              0              39
  13  BaseballBat     -1.717         0.708          -0.677         0              0              12.045
  14  Bowl            1.353          0.721          0.891          0              0              0              41
  15  BasketBall      -1.64          0.127          -1.652         0              0              0
  16  Laptop          1.205          0.776          -0.166         0              0              0              30
  17  CreditCard      -0.094         0.098          -1.593         0              0              0              44
  18  KeyChain        0.078          0.389          -1.663         0              0              0              45
  19  AlarmClock      -0.095         0.693          -1.572         0              0              0              43
  20  Pencil          1.084          0.732          1.066          0              0              0              41
  21  Pillow          0.704          0.849          -0.166         0              0              0              30
  22  CD              0.255          0.692          -1.616         0              0              0              43
  23  Pen             1.084          0.734          1.396          0              0              0              41
  24  Mug             0.164          0.686          -1.805         0              348.715        0              43
  25  Poster          0.978          1.970          -1.868         90             0              0
  26  Mirror          -0.884         1.350          2.086          0              0              0
  27  Poster          1.483          1.978          -1.210         90             270            0
  28  Poster          1.483          1.503          -0.128         90             270            0
  29  Poster          1.483          2.138          -0.128         90             270            0
  30  Bed             0.955          0.002          -0.722         0              0              0
  31  GarbageCan      1.133          0.032          0.581          0              0              0
  32  DeskLamp        -0.396         0.664          -1.666         0              315            0
  33  LightSwitch     0.554          1.154          2.079          0              180            0
  34  Window          -0.174         1.006          -2.009         90             0              0
  35  LaundryHamper   -1.425         0.006          1.676          0              149.999        0
  36  Chair           1.127          -8.434         1.053          0              90             0
  37  Blinds          -0.145         1.679          -1.986         0              0              0
  38  Shelf           1.316          1.174          1.388          0              270            0
  39  Drawer          1.099          0.167          1.724          0              270            0
  40  Drawer          1.099          0.622          1.724          0              270            0
  41  Desk            1.189          0.002          1.384          0              270            0
  42  Drawer          1.099          0.408          1.724          0              270            0
  43  SideTable       -0.103         -0.000         -1.691         0              0              0
  44  Drawer          -0.104         0.157          -1.618         0              0              0
  45  Drawer          -0.104         0.456          -1.618         0              0              0
  46  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: Stand in front of bed, turn left then turn right, face the desk. | STEP 2: Now turn right towards bed | STEP 3: Pick up pen, carry it | STEP 4: Place pen inside the bowl.  | STEP 5: Pick up the bowl with pen on it | STEP 6: Now carry bowl towards the desk. | STEP 7: Place bowl with pen onto desk. | END