Task: put a bowl with a pencil 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           -1.75          0.900          1.5            0              90             0
   1  Mug             -2.045         1.347          0.325          0              0              0              45
   2  CD              -2.155         0.386          0.646          0              0              0              47
   3  CD              -2.292         0.039          2.522          0              180            0              50
   4  CellPhone       -2.091         0.879          0.665          0              0              0              45
   5  Pen             -2.265         0.884          0.581          0              0              0              45
   6  Pen             -1.728         1.729          0.489          0              0              0              40
   7  Pencil          -0.511         0.368          -0.692         0              0              0              36
   8  KeyChain        -1.339         1.350          0.407          0              0              0              42
   9  Book            -1.914         0.386          0.721          0              0              0              47
  10  Book            1.815          0.783          1.076          0              0              0              26
  11  AlarmClock      -1.834         1.724          0.366          0              0              0              39
  12  Book            -0.511         0.364          -0.933         0              0              0              34
  13  AlarmClock      -0.483         0.858          -1.183         0              0              0              35
  14  BasketBall      1.976          0.120          0.211          0              331.076        0
  15  Pen             -2.045         1.355          0.407          0              0              0              37
  16  Laptop          -0.651         0.855          -0.663         0              0              0              35
  17  BaseballBat     1.953          0.659          -1.81          346.388        0              0
  18  Bowl            -0.567         0.861          -1.529         0              0              0              35
  19  Pillow          0.800          0.918          2.524          0              0              0              26
  20  KeyChain        -2.187         0.039          2.522          0              180            0              50
  21  CreditCard      -1.918         0.878          0.832          0              0              0              45
  22  CellPhone       1.206          0.784          1.655          0              0              0              26
  23  CD              -2.091         0.878          0.832          0              0              0              45
  24  Pencil          -1.224         0.882          0.665          0              0              0              45
  25  Mug             -0.651         0.855          -1.183         0              0              0              35
  26  Bed             1.227          -0.002         1.664          0              0              0
  27  LightSwitch     2.151          1.233          -0.518         0              270            0
  28  GarbageCan      -0.747         0.014          -0.327         0              0              0
  29  Mirror          -1.358         1.427          2.855          0              0              0
  30  DeskLamp        -2.296         0.858          0.750          0              0              0
  31  Window          -0.421         1.534          -1.947         90             0              0
  32  Window          0.579          1.534          -1.947         90             0              0
  33  Drawer          -0.491         0.739          -0.855         0              90             0
  34  Drawer          -0.491         0.204          -0.855         0              90             0
  35  Desk            -0.639         0.009          -1.187         0              90             0
  36  Drawer          -0.491         0.487          -0.855         0              90             0
  37  Shelf           -1.965         1.514          0.416          0              0              0
  38  Shelf           -1.965         1.092          0.416          0              0              0
  39  Shelf           -1.312         1.888          0.416          0              0              0
  40  Shelf           -1.965         1.888          0.416          0              0              0
  41  Shelf           -1.312         1.092          0.416          0              0              0
  42  Shelf           -1.312         1.514          0.416          0              0              0
  43  Blinds          0.601          2.161          -1.916         0              0              0
  44  Blinds          -0.402         2.161          -1.916         0              0              0
  45  Desk            -1.726         0.001          0.575          0              0              0
  46  Drawer          -2.058         0.733          0.734          0              0              0
  47  Drawer          -2.058         0.482          0.734          0              0              0
  48  Drawer          -2.058         0.198          0.735          0              0              0
  49  Chair           -0.137         0.000          -1.587         0              315            0
  50  Safe            -2.183         -7.748         2.576          0              180            0
  51  Chair           -1.433         0.009          0.780          357.672        206.726        0
  52  LaundryHamper   0.163          0.003          2.635          0              86.390         0
  53  NorthWall
  54  EastWall
  55  SouthWall
  56  WestWall

Plan:
STEP 1: go forward go to the right turn to the right towards the desk | STEP 2: pick up the pencil from the book shelf | STEP 3: turn to the left go right turn to the left go right turn to the right towards  the desk  | STEP 4: put the pencil inside the bowl that is in the desk | STEP 5: pick up the bowl from the desk | STEP 6: turn to the right go left go right turn to the left towards the book shelf  | STEP 7: put the bowl on top of the book shelf | END