Task: Move the blue pencil to be inside a bowl on the counter.

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            0.910          -0.75          0              270            0
   1  Bowl            2.680          0.809          2.833          0              0              0              43
   2  CellPhone       2.449          0.842          0.230          0              0              0              44
   3  Pencil          -0.881         0.916          4.166          0              0              0              32
   4  Pencil          2.471          0.810          2.613          0              0              0              43
   5  Pencil          2.609          0.846          0.886          0              0              0              44
   6  KeyChain        2.770          0.843          0.492          0              90             0              44
   7  KeyChain        2.545          0.745          -1.659         0              0              0              40
   8  RemoteControl   2.69           0.844          0.230          0              0              0              44
   9  RemoteControl   2.447          0.745          -1.444         0              0              0              52
  10  AlarmClock      -0.881         0.921          4.717          0              0              0              32
  11  AlarmClock      2.576          0.816          2.392          0              0              0              43
  12  Pillow          -1.073         0.785          2.822          0              0              0              29
  13  Laptop          -0.594         0.712          1.408          0              0              0              29
  14  Laptop          0.123          0.712          1.408          0              0              0              29
  15  Book            2.364          0.399          -0.594         0              270            0              47
  16  AlarmClock      2.609          0.851          1.017          0              0              0              44
  17  CellPhone       -1.012         0.913          4.35           0              0              0              32
  18  Bowl            2.784          0.809          2.613          0              0              0              43
  19  CreditCard      2.367          0.807          3.053          0              0              0              43
  20  KeyChain        2.327          0.746          -1.570         0              90             0              40
  21  RemoteControl   -0.881         0.914          4.900          0              0              0              32
  22  Laptop          2.576          0.805          3.715          0              0              0              43
  23  Pencil          2.69           0.846          1.017          0              0              0              44
  24  Pillow          -0.116         0.785          1.973          0              0              0              29
  25  Pillow          -0.594         0.785          2.539          0              0              0              29
  26  CD              -1.078         0.913          3.982          0              0              0              32
  27  Pen             -0.946         0.919          3.799          0              0              0              32
  28  Mug             2.471          0.805          3.494          0              0              0              43
  29  Bed             -0.594         0.009          2.298          0              0              0
  30  Mirror          -1.184         1.603          4.348          0              0              0
  31  Television      2.738          1.330          0.622          0              270            0
  32  CounterTop      -0.890         0.951          4.349          0              0              0
  33  LightSwitch     0.800          1.371          5.245          0              90             0
  34  Painting        2.992          1.529          3.415          90             270            0
  35  Painting        2.992          1.529          2.553          90             270            0
  36  DeskLamp        2.625          0.772          -1.469         0              0              0
  37  DeskLamp        2.668          0.810          3.082          0              358.947        0
  38  GarbageCan      -0.626         -0.009         3.742          0              0              0
  39  Window          -0.453         1.450          -2.058         90             180            0
  40  SideTable       2.565          0.009          -1.534         0              0              0
  41  ArmChair        -1.277         0.009          -1.169         0              90             0
  42  Blinds          -0.5           2.174          -1.957         0              0              0
  43  Desk            2.572          0.011          3.054          0              270            0
  44  SideTable       2.645          0.009          0.624          0              270            0
  45  Drawer          2.525          0.214          0.624          0              270            0
  46  Drawer          2.525          0.578          0.624          0              270            0
  47  ArmChair        2.424          0.009          -0.564         0              270            0
  48  LaundryHamper   3.457          0.009          4.555          0              270            0
  49  Chair           2.591          0.020          2.015          0              0              0
  50  Chair           2.184          0.020          3.440          0              120.016        0
  51  Chair           2.211          0.020          2.592          0              74.981         0
  52
  53  NorthWall
  54  EastWall
  55  SouthWall
  56  WestWall

Plan:
STEP 1: Move across the room towards the door, and turn left into the hallway on the left that's just past the table on the right.  | STEP 2: Pick up the blue pencil from the counter in front of the mirror.  | STEP 3: Turn around and walk back to the table and stand centered between the two chairs closest to you.  | STEP 4: Set the pencil in the bowl closest to the lamp. | STEP 5: Pick up the bowl with the pencil in it from the table.  | STEP 6: Turn around and carry the bowl with the pencil in it back down the hallway to the counter in front of the mirror.  | STEP 7: Set the bowl with the pencil in it on the counter.  | END