Task: Put a bowl with a pencil in it on the nightstand.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.25          0.901          -1.0           0              0              0
   1  Pen             1.214          0.698          -2.336         0              90             0              30
   2  Pen             1.029          0.698          -2.196         0              90             0              30
   3  Pencil          1.439          0.477          -0.813         0              90             0              29
   4  CreditCard      1.456          0.473          -0.764         0              270            0              29
   5  KeyChain        1.638          0.693          -1.956         0              18.354         0              30
   6  Book            1.550          0.692          -1.826         0              18.354         0              30
   7  Pillow          -1.696         0.703          -0.473         0              0              0              21
   8  Box             -0.015         0.239          -2.091         0              0              0
   9  Book            -1.346         0.629          -0.748         0              0              0              21
  10  BaseballBat     1.798          0.639          0.425          0              0              342.316
  11  Pen             1.491          0.698          -1.605         0              18.354         0              30
  12  Pencil          1.371          0.697          -1.968         0              18.354         0              30
  13  KeyChain        0.335          0.693          -2.188         0              99.090         0              30
  14  Pillow          -1.696         0.703          -1.297         0              0              0              21
  15  CreditCard      1.431          0.692          -1.786         0              18.354         0              30
  16  CellPhone       0.016          0.693          -1.921         0              99.090         0              30
  17  Laptop          1.641          0.686          -1.011         0              270            0              30
  18  CD              1.728          0.693          -1.885         0              18.354         0              30
  19  Bowl            0.293          0.694          -2.336         0              90             0              30
  20  AlarmClock      0.477          0.695          -2.055         0              90             0              30
  21  Bed             -1.696         0.004          -0.446         0              0              0
  22  Chair           0.956          -0.000         -1.747         0              110.225        0
  23  DeskLamp        -0.440         0.688          -2.276         0              0              0
  24  LightSwitch     0.625          1.338          0.734          0              180            0
  25  GarbageCan      1.660          -0.019         -0.389         0              345.008        0
  26  Mirror          1.300          1.422          0.765          0              0              0
  27  HousePlant      -0.867         0.000          -2.286         0              0              0
  28  Window          0.819          1.496          -2.553         90             180            0
  29  Shelf           1.616          0.561          -0.802         0              0              0
  30  Desk            0.617          -0.000         -1.511         0              0              0
  31  Blinds          0.796          2.217          -2.476         0              0              0
  32  Drawer          -0.558         0.456          0.462          0              180            0
  33  SideTable       -0.557         -0.000         0.529          0              180            0
  34  Drawer          -0.558         0.164          0.462          0              180            0
  35  Desktop         1.455          0.692          -1.886         358.180        309.674        0
  36  NorthWall
  37  EastWall
  38  SouthWall
  39  WestWall

Plan:
STEP 1: Turn right and go to the desk. | STEP 2: Pick up the pencil from the shelf below the desk. | STEP 3: Turn around and move forward, then turn left to go to the desk. | STEP 4: Put the pencil in the bowl on the desk. | STEP 5: Pick up the bowl from the desk. | STEP 6: Turn around and go to the wall, then go to the nightstand to your left. | STEP 7: Place the bowl on the nightstand. | END