Task: Put bowl with pencil on the cabinet

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           -0.75          0.900          1.0            0              0              0
   1  Statue          -1.730         0.982          0.062          0              0              0              47
   2  CD              -1.436         0.970          -0.339         0              0              0              47
   3  CD              -1.776         0.216          -0.815         0              0              0              55
   4  Pen             -1.552         0.415          0.071          0              0              0              56
   5  Pencil          -1.509         0.976          0.263          0              270            0              47
   6  CreditCard      2.437          0.374          -1.615         0              180            0              62
   7  CreditCard      2.687          0.432          1.752          0              90             0              63
   8  KeyChain        -1.583         0.973          0.263          0              90             0              47
   9  KeyChain        -1.762         1.639          -1.959         0              180            0              41
  10  Book            -1.720         0.799          -0.536         0              180            0              48
  11  Book            0.537          0.774          0.188          0              0              0              29
  12  Laptop          0.537          0.773          -0.106         0              0              0              29
  13  Book            -1.583         0.970          0.062          0              0              0              47
  14  KeyChain        -1.494         0.037          -0.629         0              0              0              55
  15  AlarmClock      -1.730         0.970          -0.742         0              0              0              47
  16  Pillow          1.02           0.836          -0.401         0              0              0              29
  17  Pillow          0.652          0.794          -1.531         0              0              0              29
  18  Vase            -1.699         1.147          -2.301         0              90             0              42
  19  Laptop          1.743          0.773          -0.106         0              0              0              29
  20  Vase            1.731          0.686          2.262          0              0              0              57
  21  Pencil          -1.730         0.977          -0.138         0              0              0              47
  22  CreditCard      -1.762         1.637          -2.415         0              90             0              41
  23  Boots           -1.842         0.000          -1.077         0              135            0
  24  Pen             2.438          0.686          -1.626         0              0              0              60
  25  CellPhone       -1.657         0.971          -0.339         0              0              0              47
  26  CD              -1.762         1.637          -2.073         0              90             0              41
  27  Bowl            -1.699         1.146          -2.073         0              90             0              42
  28  Statue          1.576          0.691          2.082          0              0              0              57
  29  Bed             1.017          0.003          -0.686         0              180            0
  30  HousePlant      -1.749         0.971          0.463          0              0              0
  31  GarbageCan      -1.665         -0.000         0.953          0              45             0
  32  Painting        0.381          1.976          -1.895         90             0              0
  33  Painting        0.879          1.976          -1.895         90             0              0
  34  Painting        1.373          1.976          -1.895         90             0              0
  35  LightSwitch     -0.164         1.085          2.450          0              180            0
  36  Mirror          -1.950         1.735          -0.206         0              270            0
  37  Window          -1.098         1.570          -3.230         90             0              0
  38  DeskLamp        1.404          0.668          2.209          0              0              0
  39  DeskLamp        2.596          0.668          -1.710         0              0              0
  40  Blinds          -1.062         2.361          -3.173         0              0              0
  41  Shelf           -1.675         1.871          -2.053         0              90             0
  42  Shelf           -1.675         1.383          -2.053         0              90             0
  43  Drawer          -1.715         0.832          -2.053         0              90             0
  44  ShelvingUnit    -1.723         0.007          -2.053         0              90             0
  45  Drawer          -1.713         0.339          -2.053         0              90             0
  46  Drawer          -1.629         0.104          0.243          0              90             0
  47  Dresser         -1.674         0.000          -0.153         0              90             0
  48  Drawer          -1.630         0.868          -0.550         0              90             0
  49  Drawer          -1.630         0.680          0.243          0              90             0
  50  Drawer          -1.629         0.104          -0.550         0              90             0
  51  Drawer          -1.630         0.680          -0.550         0              90             0
  52  Drawer          -1.630         0.868          0.243          0              90             0
  53  Drawer          -1.629         0.486          -0.550         0              90             0
  54  Drawer          -1.629         0.291          0.243          0              90             0
  55  Drawer          -1.629         0.291          -0.550         0              90             0
  56  Drawer          -1.630         0.486          0.243          0              90             0
  57  SideTable       1.576          -0.001         2.137          0              180            0
  58  Drawer          1.576          0.163          2.070          0              180            0
  59  Drawer          1.576          0.455          2.070          0              180            0
  60  SideTable       2.437          -0.001         -1.603         0              0              0
  61  Drawer          2.438          0.163          -1.536         0              0              0
  62  Drawer          2.438          0.455          -1.536         0              0              0
  63  ArmChair        2.393          -0.001         1.943          0              180            0
  64  NorthWall
  65  EastWall
  66  SouthWall
  67  WestWall

Plan:
STEP 1: Turn around to your left walk few steps and face the cabinet on your right | STEP 2: Pick up the pencil on the top of the cabinet | STEP 3: Turn to your left and head to the drawer on your right | STEP 4: Place the pencil in the bowl  | STEP 5: Pick up the bowl with pencil | STEP 6: Turn to your right and head back to the  cabinet | STEP 7: Put the bowl with pencil on the cabinet beside the phone | END