Task: put bowl with pen on top of dresser

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          0.900          -0.5           0              270            0
   1  Bowl            1.260          0.383          -0.097         0              270            0              40
   2  Bowl            1.293          1.410          -0.382         0              270            0              41
   3  CD              -1.367         0.395          -2.046         0              0              0              54
   4  CD              -1.644         1.521          -1.571         0              270            0              42
   5  Pen             -1.510         1.527          -2.148         0              270            0              42
   6  Pen             -1.582         0.702          -2.191         0              0              0              53
   7  Pen             1.121          0.510          -1.929         0              270            0              31
   8  CellPhone       -1.203         0.611          0.618          0              0              0              30
   9  CellPhone       1.224          0.371          -1.963         0              0              0              32
  10  Pencil          -1.394         0.704          -1.900         0              0              0              53
  11  CreditCard      0.937          0.576          -2.482         0              0              0              48
  12  CreditCard      -1.577         1.521          -1.859         0              270            0              42
  13  Laptop          -1.082         0.609          -0.223         0              0              0              30
  14  Book            0.623          0.569          -2.471         0              350.999        0              37
  15  KeyChain        -1.400         0.101          -1.725         0              0              0              52
  16  BaseballBat     1.436          0.636          1.985          21.882         0              0
  17  BasketBall      1.270          0.12           -1.290         0              345.557        0
  18  Pencil          1.224          0.243          -1.639         0              0              0              35
  19  CellPhone       -1.645         0.697          -2.191         0              0              0              53
  20  CreditCard      -1.394         0.699          -2.046         0              0              0              53
  21  Laptop          0.076          0.569          -2.456         0              0              0              48
  22  Pillow          -1.170         0.684          -0.990         0              0              0              30
  23  Boots           1.288          0.000          -0.961         0              177.912        0
  24  Pen             -1.332         0.702          -1.755         0              0              0              53
  25  AlarmClock      1.259          0.911          -0.537         0              270            0              39
  26  CD              -1.577         1.521          -2.293         0              270            0              42
  27  Bowl            1.22           0.504          -1.819         0              270            0              31
  28  Drawer          0.980          0.271          -1.963         0              0              0
  29  Drawer          0.980          0.139          -1.963         0              0              0
  30  Bed             -1.209         0.016          -0.266         0              180            1.624
  31  Shelf           1.220          0.859          -1.802         0              270            0
  32  Drawer          0.980          0.404          -1.963         0              0              0
  33  Drawer          0.980          0.272          -1.639         0              0              0
  34  Mirror          0.740          1.491          2.099          0              0              0
  35  Drawer          0.980          0.139          -1.639         0              0              0
  36  Drawer          0.980          0.404          -1.639         0              0              0
  37  Chair           0.280          -0.001         -2.264         0              180            0
  38  GarbageCan      -1.542         0.013          1.919          2.249          116.925        355.175
  39  Shelf           1.259          0.903          -0.269         0              270            0
  40  Shelf           1.259          0.375          -0.263         0              270            0
  41  Shelf           1.259          1.402          -0.259         0              270            0
  42  Shelf           -1.577         1.513          -2.025         0              270            0
  43  LightSwitch     -0.755         1.176          2.099          0              180            0
  44  DeskLamp        -1.489         0.669          -2.419         0              0              0
  45  Window          0.243          0.963          -2.678         90             0              0
  46  Window          -0.361         0.963          -2.679         90             0              0
  47  Window          -0.962         0.963          -2.678         90             0              0
  48  Desk            0.445          0.001          -2.430         0              0              0
  49  Blinds          -0.349         2.186          -2.685         0              0              0
  50  Blinds          0.250          2.186          -2.685         0              0              0
  51  Blinds          -0.952         2.186          -2.685         0              0              0
  52  Drawer          -1.314         0.163          -2.051         0              90             0
  53  SideTable       -1.444         -0.001         -2.051         0              90             0
  54  Drawer          -1.314         0.455          -2.051         0              90             0
  55  NorthWall
  56  EastWall
  57  SouthWall
  58  WestWall

Plan:
STEP 1: walk to face cabinet to left of desk | STEP 2: pick up pen from cabinet | STEP 3: put pen in bowl in cabinet | STEP 4: pick up bowl from cabinet | STEP 5: walk to face dresser at end of bed | STEP 6: put bowl on top of dresser  | END