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

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -1.25          0.902          0.25           0              180            0
   1  Plate           -2.712         0.689          1.052          0              0              0              59
   2  Plate           -2.532         0.747          -0.115         0              0              0              54
   3  Newspaper       -2.164         0.097          4.731          0              0              0              50
   4  Watch           -2.934         0.689          1.175          0              0              0              57
   5  Statue          -2.490         0.695          1.423          0              0              0              46
   6  Statue          -1.603         0.695          1.175          0              0              0              56
   7  Vase            -2.490         0.693          1.175          0              0              0              59
   8  Vase            -2.396         0.352          4.809          0              0              0              48
   9  Pen             -2.164         0.103          4.887          0              0              0              50
  10  Pen             -0.348         0.710          3.454          0              90             0              42
  11  Pencil          -2.318         0.101          4.964          0              0              0              50
  12  Pencil          -4.868         0.056          0.362          0              90             0              36
  13  Book            -1.609         0.482          3.705          0              0              0              52
  14  RemoteControl   -2.269         0.691          1.052          0              0              0              46
  15  RemoteControl   -2.134         0.240          6.119          0              0              0              49
  16  Book            -2.404         0.482          3.705          0              0              0              52
  17  Box             -3.362         0.219          6.426          0              0              0              49
  18  Statue          -2.047         0.695          1.793          0              0              0              58
  19  Laptop          -2.934         0.687          1.546          0              0              0              57
  20  TissueBox       -2.047         0.690          1.052          0              0              0              56
  21  CreditCard      -0.316         0.705          3.285          0              0              0              42
  22  Plate           -1.825         0.689          1.175          0              0              0              56
  23  KeyChain        -1.008         0.433          5.847          0              315            0              45
  24  Vase            -2.934         0.693          1.052          0              0              0              46
  25  Pencil          -0.221         0.707          3.116          0              0              0              42
  26  Pillow          -3.271         0.661          3.44           0              0              331.220        52
  27  Bowl            -2.114         0.747          -0.159         0              0              0              54
  28  RemoteControl   -0.876         0.435          5.716          0              135            0              45
  29  Watch           -1.731         0.648          -0.105         0              0              0              55
  30  Pen             -2.510         0.243          6.083          0              0              0              49
  31  Newspaper       -2.241         0.347          4.809          0              0              0              48
  32  Painting        -2.048         1.615          -0.303         0              0              0
  33  Curtains        -0.083         2.420          0.969          0              0              0
  34  Television      -2.357         1.205          6.245          0              180            0
  35  HousePlant      -2.933         0.595          -0.093         0              0              0
  36  GarbageCan      -4.864         -0.001         0.267          0              90             0
  37  FloorLamp       -0.566         0.002          0.024          0              316.932        0
  38  DeskLamp        -0.273         0.700          3.612          0              0              0
  39  Window          -0.057         0.925          1.764          90             270            0
  40  Window          -0.057         1.130          4.886          90             270            0
  41  LightSwitch     -3.305         1.340          -0.314         0              0              0
  42  SideTable       -0.255         0.001          3.369          0              270            0
  43  Drawer          -0.306         0.626          3.369          0              270            0
  44  ArmChair        -4.376         -8.374         6.016          0              152.639        0
  45  ArmChair        -0.847         -8.106         5.983          0              231.318        0
  46  DiningTable     -2.268         -0.016         1.422          0              0              0
  47  CoffeeTable     -2.326         0.002          4.922          0              0              0
  48  Shelf           -2.326         0.338          4.922          0              0              0
  49  Shelf           -2.385         0.238          6.296          0              0              0
  50  Shelf           -2.326         0.089          4.922          0              0              0
  51  TVStand         -2.385         0.006          6.296          0              0              0
  52  Sofa            -2.404         -0.003         3.417          0              0              0
  53  SideTable       -2.935         0.004          -0.103         0              0              0
  54  SideTable       -2.113         0.002          -0.139         0              0              0
  55  Drawer          -2.113         0.654          -0.069         0              0              0
  56  Chair           -1.862         0.020          1.035          0              0              0
  57  Chair           -3.122         0.020          1.410          0              104.999        0
  58  Chair           -1.864         0.020          1.838          0              185.032        0
  59  Chair           -2.507         0.020          0.991          0              6.189          0
  60  Chair           -2.519         0.020          1.882          0              164.977        0
  61  Chair           -1.335         0.020          1.430          0              270            0
  62  NorthWall
  63  EastWall
  64  SouthWall
  65  WestWall

Plan:
STEP 1: Turn left and take a step forward, then turn left and walk over to the small black table with the lamp on it to the right of the couch. | STEP 2: Pick up the yellow pencil off of the small black table. | STEP 3: Turn left and take a step forward, then turn left and walk over to the small black table below the picture on the wall. | STEP 4: Put the pencil in the bowl that is on the black table. | STEP 5: Pick up the bowl with the pencil in it off of the table. | STEP 6: Turn right and walk towards the wall, then hang a right and walk over to the coffee table. | STEP 7: Put the bowl with the pencil in it on top of the coffee table. | END