Task: To put a pen in the bowl and place the bowl on the TV stand.

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              0              0
   1  Mug             2.784          0.806          2.613          0              0              0              47
   2  Mug             2.471          0.805          3.274          0              0              0              47
   3  Bowl            2.367          0.809          2.613          0              0              0              47
   4  Bowl            2.471          0.809          3.715          0              0              0              47
   5  CellPhone       2.576          0.808          2.392          0              0              0              47
   6  Pen             2.850          0.848          0.755          0              180            0              48
   7  Pencil          -0.749         0.916          4.35           0              0              0              36
   8  CreditCard      2.575          0.458          0.428          0              0              0              50
   9  CreditCard      2.447          0.744          -1.372         0              0              0              44
  10  KeyChain        2.529          0.843          0.230          0              90             0              48
  11  KeyChain        2.327          0.745          -1.472         0              90             0              56
  12  Book            2.618          0.460          0.624          0              0              0              50
  13  Book            -0.881         0.912          4.533          0              0              0              36
  14  AlarmClock      -0.749         0.921          4.900          0              0              0              36
  15  AlarmClock      2.471          0.816          3.494          0              0              0              47
  16  Pillow          -0.594         0.785          1.408          0              0              0              33
  17  Laptop          -0.815         0.911          3.982          0              0              0              36
  18  Laptop          2.471          0.805          3.053          0              0              0              47
  19  Book            -1.073         0.713          2.822          0              0              0              33
  20  AlarmClock      2.447          0.752          -1.731         0              0              0              44
  21  CellPhone       2.680          0.807          2.833          0              0              0              47
  22  Bowl            -1.054         0.899          3.879          0              0              0              36
  23  CreditCard      2.454          0.399          -0.333         0              270            0              51
  24  KeyChain        2.529          0.843          0.755          0              0              0              48
  25  RemoteControl   -0.946         0.914          4.35           0              90             0              36
  26  Laptop          -0.355         0.712          1.973          0              0              0              33
  27  Pencil          2.784          0.810          3.274          0              0              0              47
  28  Pillow          -1.217         0.470          -1.140         0              90             0              45
  29  Pillow          -1.312         0.785          2.539          0              0              0              33
  30  CD              -1.038         0.399          -1.314         0              90             0              45
  31  Pen             2.595          0.750          -1.659         0              0              0              44
  32  Mug             -0.946         0.911          4.717          0              90             0              36
  33  Bed             -0.594         0.009          2.298          0              0              0
  34  Mirror          -1.184         1.603          4.348          0              0              0
  35  Television      2.738          1.330          0.622          0              270            0
  36  CounterTop      -0.890         0.951          4.349          0              0              0
  37  LightSwitch     0.800          1.371          5.245          0              90             0
  38  Painting        2.992          1.529          3.415          90             270            0
  39  Painting        2.992          1.529          2.553          90             270            0
  40  DeskLamp        2.625          0.772          -1.469         0              0              0
  41  DeskLamp        2.668          0.810          3.082          0              358.947        0
  42  GarbageCan      -0.626         -0.009         3.742          0              0              0
  43  Window          -0.453         1.450          -2.058         90             180            0
  44  SideTable       2.565          0.009          -1.534         0              0              0
  45  ArmChair        -1.277         0.009          -1.169         0              90             0
  46  Blinds          -0.5           2.174          -1.957         0              0              0
  47  Desk            2.572          0.011          3.054          0              270            0
  48  SideTable       2.645          0.009          0.624          0              270            0
  49  Drawer          2.525          0.214          0.624          0              270            0
  50  Drawer          2.525          0.578          0.624          0              270            0
  51  ArmChair        2.424          0.009          -0.564         0              270            0
  52  LaundryHamper   3.457          0.009          4.555          0              270            0
  53  Chair           2.591          0.020          2.015          0              0              0
  54  Chair           2.184          0.020          3.440          0              120.016        0
  55  Chair           2.211          0.020          2.592          0              74.981         0
  56
  57  NorthWall
  58  EastWall
  59  SouthWall
  60  WestWall

Plan:
STEP 1: Turn right, walk around the TV stand, turn right to face the TV stand.  | STEP 2: Pick up the pen to the left of the keys.  | STEP 3: Walk to the right side of the table.  | STEP 4: Put the pen inside of the bowl to the right of the lap top.  | STEP 5: Pick up the bowl from the table.  | STEP 6: Walk to the front of the TV stand.  | STEP 7: Place the bowl on the TV stand to the left of the set of keys.  | END