Task: Putting a bowl with a pencil in it on the desk

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           2.0            0.900          0.75           0              90             0
   1  TissueBox       -1.294         0.969          -0.919         0              0              0              46
   2  CD              -1.352         1.234          -0.840         0              0              0              42
   3  Laptop          -0.634         0.561          0.846          0              0              0              23
   4  Book            -0.902         0.574          1.179          0              332.922        0              23
   5  Box             2.734          0.195          0.89           0              0              0
   6  Laptop          -0.5           0.56           0.286          0              63.464         0              23
   7  CellPhone       -0.117         0.566          1.091          0              0              0              23
   8  BaseballBat     2.847          0.643          1.838          0              0              335.111
   9  BasketBall      1.019          0.330          -0.976         346.948        295.819        0
  10  TissueBox       1.982          0.570          -1.218         0              0              0              49
  11  CreditCard      -1.248         1.234          -0.553         0              0              0              42
  12  AlarmClock      1.651          0.796          -1.217         0              0              0              47
  13  Pencil          2.027          0.799          -1.217         0              0              0              47
  14  Boots           -1.279         0.000          -1.343         0              27.143         0
  15  Pillow          -0.634         0.63           1.611          0              0              0              23
  16  KeyChain        -1.264         0.106          -0.508         0              0              0              45
  17  Bowl            -1.352         1.233          -0.553         0              0              0              42
  18  Watch           1.701          0.349          -1.161         0              0              0              55
  19  CD              2.859          0.039          0.147          0              270            0              25
  20  Pen             2.482          1.050          -1.368         0              0              0              31
  21  Mug             2.403          0.792          -1.153         0              0              0              47
  22  Statue          1.823          1.036          -1.419         0              0              0              47
  23  Bed             -0.640         0.008          0.871          0              0              0
  24  DeskLamp        -1.319         1.238          -0.994         0              90             0
  25  GarbageCan      2.838          0.007          0.215          0              270            0
  26  Blinds          0.111          2.337          -1.436         0              0              0
  27  Mirror          1.985          1.381          1.875          0              0              0
  28  Window          0.118          1.496          -1.588         90             180            0
  29  LightSwitch     2.654          1.276          1.899          0              180            0
  30  Chair           2.457          0.011          -0.997         0              189.124        0
  31  Shelf           2.476          0.919          -1.384         0              0              0
  32  Shelf           2.251          1.503          -1.383         0              0              0
  33  Shelf           2.700          1.510          -1.380         0              0              0
  34  Shelf           2.476          1.153          -1.384         0              0              0
  35  Shelf           1.803          1.386          -1.384         0              0              0
  36  Shelf           1.803          0.919          -1.381         0              0              0
  37  DogBed          0.920          0.013          -1.044         0              0              0
  38  Drawer          -1.305         0.454          -0.918         0              90             0
  39  Drawer          -1.305         0.752          -0.919         0              90             0
  40  Drawer          -1.305         0.178          -0.918         0              90             0
  41  Drawer          -1.305         0.752          -0.579         0              90             0
  42  Dresser         -1.328         0.011          -0.744         0              90             0
  43  Drawer          -1.306         1.031          -0.579         0              90             0
  44  Drawer          -1.305         0.454          -0.578         0              90             0
  45  Drawer          -1.305         0.178          -0.578         0              90             0
  46  Drawer          -1.305         1.031          -0.919         0              90             0
  47  Desk            2.211          0.009          -1.259         0              0              0
  48  Drawer          2.817          0.189          -1.176         0              0              0
  49  Drawer          1.940          0.632          -1.176         0              0              0
  50  Drawer          1.940          0.189          -1.176         0              0              0
  51  Drawer          1.623          0.632          -1.176         0              0              0
  52  Drawer          2.817          0.632          -1.176         0              0              0
  53  Drawer          2.817          0.411          -1.176         0              0              0
  54  Drawer          1.623          0.189          -1.176         0              0              0
  55  Drawer          1.623          0.410          -1.176         0              0              0
  56  Drawer          1.940          0.410          -1.176         0              0              0
  57  NorthWall
  58  EastWall
  59  SouthWall
  60  WestWall

Plan:
STEP 1: Turn right and go to the left side of the desk | STEP 2: Grab the pencil that's on the shelf | STEP 3: Turn right and go to the drawer | STEP 4: Put the pencil in the bowl on top of the drawer | STEP 5: Grab the bowl off of the drawer | STEP 6: Turn around and go to the desk | STEP 7: Put the bowl on the desk to the left of the white mug | END