Task: Put a glass bowl with a pen in it on an end table.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           1.0            0.900          1.5            0              270            0
   1  Statue          -1.583         0.982          0.464          0              90             0              49
   2  CD              -1.730         1.145          -1.845         0              90             0              44
   3  Pen             -1.608         0.611          0.257          0              0              0              58
   4  Pen             -1.636         1.152          -1.845         0              90             0              44
   5  Pen             -1.494         0.041          0.443          0              0              0              48
   6  Pencil          -1.804         0.976          -0.138         0              0              0              49
   7  Pencil          -1.552         0.415          -0.351         0              0              0              55
   8  KeyChain        2.314          0.434          1.587          0              90             0              65
   9  KeyChain        -1.494         0.037          -0.349         0              0              0              57
  10  Book            -1.496         0.216          -0.629         0              0              0              57
  11  Book            -1.509         0.970          0.062          0              0              0              49
  12  AlarmClock      -1.657         0.972          -0.138         0              0              0              49
  13  AlarmClock      -1.804         0.972          0.263          0              0              0              49
  14  Laptop          1.261          0.773          0.188          0              0              0              31
  15  Book            -1.721         0.409          -0.443         0              180            0              55
  16  KeyChain        -1.730         1.147          -2.187         0              90             0              44
  17  AlarmClock      -1.657         0.970          -0.742         0              0              0              49
  18  Pillow          2.410          0.513          1.841          0              90             0              65
  19  Pillow          0.652          0.794          -1.531         0              0              0              31
  20  Vase            -1.662         1.626          -1.791         0              0              0              43
  21  Laptop          0.296          0.773          -0.990         0              0              0              31
  22  Vase            -1.804         0.975          0.062          0              0              0              49
  23  Pencil          -1.668         1.643          -2.415         0              90             0              43
  24  CreditCard      -1.657         0.972          0.062          0              0              0              49
  25  Boots           -1.842         0.000          -1.077         0              135            0
  26  Pen             -1.509         0.976          -0.540         0              0              0              49
  27  CellPhone       -1.583         0.972          -0.339         0              0              0              49
  28  CD              -1.762         1.637          -1.959         0              90             0              43
  29  Bowl            -1.684         1.135          -2.300         0              346.900        0              44
  30  Statue          -1.764         0.965          -0.758         0              59.718         0              49
  31  Bed             1.017          0.003          -0.686         0              180            0
  32  HousePlant      -1.749         0.971          0.463          0              0              0
  33  GarbageCan      -1.665         -0.000         0.953          0              45             0
  34  Painting        0.381          1.976          -1.895         90             0              0
  35  Painting        0.879          1.976          -1.895         90             0              0
  36  Painting        1.373          1.976          -1.895         90             0              0
  37  LightSwitch     -0.164         1.085          2.450          0              180            0
  38  Mirror          -1.950         1.735          -0.206         0              270            0
  39  Window          -1.098         1.570          -3.230         90             0              0
  40  DeskLamp        1.404          0.668          2.209          0              0              0
  41  DeskLamp        2.596          0.668          -1.710         0              0              0
  42  Blinds          -1.062         2.361          -3.173         0              0              0
  43  Shelf           -1.675         1.871          -2.053         0              90             0
  44  Shelf           -1.675         1.383          -2.053         0              90             0
  45  Drawer          -1.715         0.832          -2.053         0              90             0
  46  ShelvingUnit    -1.723         0.007          -2.053         0              90             0
  47  Drawer          -1.713         0.339          -2.053         0              90             0
  48  Drawer          -1.629         0.104          0.243          0              90             0
  49  Dresser         -1.674         0.000          -0.153         0              90             0
  50  Drawer          -1.630         0.868          -0.550         0              90             0
  51  Drawer          -1.630         0.680          0.243          0              90             0
  52  Drawer          -1.629         0.104          -0.550         0              90             0
  53  Drawer          -1.630         0.680          -0.550         0              90             0
  54  Drawer          -1.630         0.868          0.243          0              90             0
  55  Drawer          -1.629         0.486          -0.550         0              90             0
  56  Drawer          -1.629         0.291          0.243          0              90             0
  57  Drawer          -1.629         0.291          -0.550         0              90             0
  58  Drawer          -1.630         0.486          0.243          0              90             0
  59  SideTable       1.576          -0.001         2.137          0              180            0
  60  Drawer          1.576          0.163          2.070          0              180            0
  61  Drawer          1.576          0.455          2.070          0              180            0
  62  SideTable       2.437          -0.001         -1.603         0              0              0
  63  Drawer          2.438          0.163          -1.536         0              0              0
  64  Drawer          2.438          0.455          -1.536         0              0              0
  65  ArmChair        2.393          -0.001         1.943          0              180            0
  66  NorthWall
  67  EastWall
  68  SouthWall
  69  WestWall

Plan:
STEP 1: Walk towards the wall, then hang a left and walk across the room, hang a right and walk up to the black dresser. | STEP 2: Pick up the pen off of the dresser. | STEP 3: Turn left and walk towards the window, then turn right to face the glass bowl on the dresser. | STEP 4: Put the pen in the glass bowl on the dresser. | STEP 5: Pick up the glass bowl with the pen in it. | STEP 6: Walk across the room and around the bed to the small black end table in between the bed and wall. | STEP 7: Put the glass bowl with the pen in it on the small black end table to the right of the lamp. | END