Task: Put a pen in a bowl sitting on a dresser and move it to a desk.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.900          -1.0           0              0              0
   1  Statue          1.651          0.805          -1.217         0              0              0              49
   2  Watch           1.524          0.796          -1.412         0              0              0              49
   3  Pencil          -1.294         0.679          -0.918         0              0              0              41
   4  Pencil          1.911          1.050          -1.373         0              0              0              37
   5  Pillow          -0.979         0.640          0.602          0              0              0              25
   6  Book            -0.902         0.574          1.179          0              332.922        0              25
   7  Box             2.734          0.195          0.89           0              0              0
   8  Laptop          -0.5           0.56           0.286          0              63.464         0              25
   9  CellPhone       -0.634         0.566          1.335          0              0              0              25
  10  BaseballBat     2.847          0.643          1.838          0              0              335.111
  11  BasketBall      1.019          0.330          -0.976         346.948        295.819        0
  12  TissueBox       1.594          0.350          -1.218         0              0              0              57
  13  CreditCard      2.259          1.278          -1.387         0              0              0              34
  14  AlarmClock      2.591          0.795          -1.282         0              0              0              49
  15  Pencil          2.690          0.814          -1.382         0              0              0              33
  16  Boots           -1.279         0.000          -1.343         0              27.143         0
  17  Pillow          -0.634         0.63           1.611          0              0              0              25
  18  KeyChain        -1.213         1.233          -0.936         0              90             0              44
  19  Bowl            -1.318         1.233          -0.745         0              0              0              44
  20  Watch           1.839          0.795          -1.217         0              0              0              49
  21  CD              2.271          0.810          -1.412         0              0              0              49
  22  Pen             2.482          1.050          -1.368         0              0              0              33
  23  Mug             2.403          0.792          -1.153         0              0              0              49
  24  Statue          1.823          1.036          -1.419         0              0              0              49
  25  Bed             -0.640         0.008          0.871          0              0              0
  26  DeskLamp        -1.319         1.238          -0.994         0              90             0
  27  GarbageCan      2.838          0.007          0.215          0              270            0
  28  Blinds          0.111          2.337          -1.436         0              0              0
  29  Mirror          1.985          1.381          1.875          0              0              0
  30  Window          0.118          1.496          -1.588         90             180            0
  31  LightSwitch     2.654          1.276          1.899          0              180            0
  32  Chair           2.457          0.011          -0.997         0              189.124        0
  33  Shelf           2.476          0.919          -1.384         0              0              0
  34  Shelf           2.251          1.503          -1.383         0              0              0
  35  Shelf           2.700          1.510          -1.380         0              0              0
  36  Shelf           2.476          1.153          -1.384         0              0              0
  37  Shelf           1.803          1.386          -1.384         0              0              0
  38  Shelf           1.803          0.919          -1.381         0              0              0
  39  DogBed          0.920          0.013          -1.044         0              0              0
  40  Drawer          -1.305         0.454          -0.918         0              90             0
  41  Drawer          -1.305         0.752          -0.919         0              90             0
  42  Drawer          -1.305         0.178          -0.918         0              90             0
  43  Drawer          -1.305         0.752          -0.579         0              90             0
  44  Dresser         -1.328         0.011          -0.744         0              90             0
  45  Drawer          -1.306         1.031          -0.579         0              90             0
  46  Drawer          -1.305         0.454          -0.578         0              90             0
  47  Drawer          -1.305         0.178          -0.578         0              90             0
  48  Drawer          -1.305         1.031          -0.919         0              90             0
  49  Desk            2.211          0.009          -1.259         0              0              0
  50  Drawer          2.817          0.189          -1.176         0              0              0
  51  Drawer          1.940          0.632          -1.176         0              0              0
  52  Drawer          1.940          0.189          -1.176         0              0              0
  53  Drawer          1.623          0.632          -1.176         0              0              0
  54  Drawer          2.817          0.632          -1.176         0              0              0
  55  Drawer          2.817          0.411          -1.176         0              0              0
  56  Drawer          1.623          0.189          -1.176         0              0              0
  57  Drawer          1.623          0.410          -1.176         0              0              0
  58  Drawer          1.940          0.410          -1.176         0              0              0
  59  NorthWall
  60  EastWall
  61  SouthWall
  62  WestWall

Plan:
STEP 1: Turn right and walk to the wall on the other side of the room.  Turn right at the wall and walk to the desk. | STEP 2: Pick up the pen on the first upper shelf of the desk. | STEP 3: Turn around, take a step and turn left.  Walk to the other side of the room to the dresser. | STEP 4: Put the pen standing straight up on the bowl on the dresser. | STEP 5: Pick up the bowl with the pen standing in it. | STEP 6: Turn around and walk to the other side of the room to the desk.  Turn toward the desk. | STEP 7: Put the bowl with the pen down on the desk. | END