Task: Put a bowl with a pen in it, on the desk.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.5            0.900          1.0            0              90             0
   1  TissueBox       -1.294         0.677          -0.918         0              0              0              43
   2  TissueBox       -1.294         0.969          -0.919         0              0              0              50
   3  Watch           2.853          0.570          -1.274         0              0              0              56
   4  Watch           1.524          0.796          -1.447         0              0              0              51
   5  CD              1.839          0.795          -1.185         0              0              0              51
   6  CreditCard      -1.248         1.233          -0.840         0              0              0              46
   7  AlarmClock      1.651          0.795          -1.249         0              0              0              51
   8  Book            -0.289         0.565          0.846          0              0              0              27
   9  Box             2.734          0.195          0.89           0              0              0
  10  Laptop          -0.5           0.56           0.286          0              63.464         0              27
  11  CellPhone       -0.117         0.686          1.580          0              0              0              27
  12  BaseballBat     2.847          0.643          1.838          0              0              335.111
  13  BasketBall      1.019          0.330          -0.976         346.948        295.819        0
  14  TissueBox       1.630          0.350          -1.218         0              0              0              59
  15  CreditCard      2.360          1.278          -1.431         0              0              0              36
  16  AlarmClock      -1.318         1.235          -0.745         0              0              0              46
  17  Pencil          2.591          0.799          -1.249         0              0              0              51
  18  Boots           -1.279         0.000          -1.343         0              27.143         0
  19  Pillow          -0.634         0.63           1.611          0              0              0              27
  20  KeyChain        -1.248         1.235          -0.553         0              90             0              46
  21  Bowl            -1.352         1.234          -0.553         0              0              0              46
  22  Watch           2.215          0.795          -1.185         0              0              0              51
  23  CD              2.859          0.039          0.182          0              270            0              29
  24  Pen             2.403          0.800          -1.217         0              0              0              51
  25  Mug             2.821          0.788          -1.223         0              0              0              51
  26  Statue          1.823          1.036          -1.419         0              0              0              51
  27  Bed             -0.640         0.008          0.871          0              0              0
  28  DeskLamp        -1.319         1.238          -0.994         0              90             0
  29  GarbageCan      2.838          0.007          0.215          0              270            0
  30  Blinds          0.111          2.337          -1.436         0              0              0
  31  Mirror          1.985          1.381          1.875          0              0              0
  32  Window          0.118          1.496          -1.588         90             180            0
  33  LightSwitch     2.654          1.276          1.899          0              180            0
  34  Chair           2.457          0.011          -0.997         0              189.124        0
  35  Shelf           2.476          0.919          -1.384         0              0              0
  36  Shelf           2.251          1.503          -1.383         0              0              0
  37  Shelf           2.700          1.510          -1.380         0              0              0
  38  Shelf           2.476          1.153          -1.384         0              0              0
  39  Shelf           1.803          1.386          -1.384         0              0              0
  40  Shelf           1.803          0.919          -1.381         0              0              0
  41  DogBed          0.920          0.013          -1.044         0              0              0
  42  Drawer          -1.305         0.454          -0.918         0              90             0
  43  Drawer          -1.305         0.752          -0.919         0              90             0
  44  Drawer          -1.305         0.178          -0.918         0              90             0
  45  Drawer          -1.305         0.752          -0.579         0              90             0
  46  Dresser         -1.328         0.011          -0.744         0              90             0
  47  Drawer          -1.306         1.031          -0.579         0              90             0
  48  Drawer          -1.305         0.454          -0.578         0              90             0
  49  Drawer          -1.305         0.178          -0.578         0              90             0
  50  Drawer          -1.305         1.031          -0.919         0              90             0
  51  Desk            2.211          0.009          -1.259         0              0              0
  52  Drawer          2.817          0.189          -1.176         0              0              0
  53  Drawer          1.940          0.632          -1.176         0              0              0
  54  Drawer          1.940          0.189          -1.176         0              0              0
  55  Drawer          1.623          0.632          -1.176         0              0              0
  56  Drawer          2.817          0.632          -1.176         0              0              0
  57  Drawer          2.817          0.411          -1.176         0              0              0
  58  Drawer          1.623          0.189          -1.176         0              0              0
  59  Drawer          1.623          0.410          -1.176         0              0              0
  60  Drawer          1.940          0.410          -1.176         0              0              0
  61  NorthWall
  62  EastWall
  63  SouthWall
  64  WestWall

Plan:
STEP 1: Move forward to the box, turn right, go to the pen on the desk. | STEP 2: Pick up the pen on the desk.  | STEP 3: Turn right, bring the pen to the tall white dresser, left of the bed. | STEP 4: Put the pen in the bowl on the dresser. | STEP 5: Pick up the bowl with pen on the dresser.  | STEP 6: Turn around, bring the bowl back to the desk on the right. | STEP 7: Put the bowl with pen on the desk, left of the watch. | END