Task: To pick up a pencil and turn the lamp on.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.0            0.900          -0.75          0              180            0
   1  Bowl            -1.259         0.794          -1.696         0              0              0              46
   2  Bowl            -1.283         1.824          -1.431         0              0              0              33
   3  Pencil          -0.376         0.796          -1.760         0              0              0              46
   4  Pencil          -0.585         0.840          -2.072         0              0              0              29
   5  Pen             0.459          0.682          -1.635         0              0              0              45
   6  KeyChain        -0.773         0.793          -1.322         0              53.910         0              46
   7  KeyChain        -0.911         0.793          -0.385         0              0              0              46
   8  Book            0.953          0.578          -0.891         0              0              0              47
   9  Book            -1.194         0.794          -0.600         0              0              0              46
  10  AlarmClock      -1.194         0.794          -0.385         0              0              0              46
  11  AlarmClock      -0.315         0.838          -2.107         0              0              0              29
  12  Book            -0.66          0.783          -1.69          0              312.959        0              46
  13  Pencil          -1.283         1.462          -1.431         0              0              0              30
  14  Laptop          -1.005         0.780          -1.477         0              31.363         0              46
  15  Pen             -1.265         0.798          -1.243         0              0              0              46
  16  TennisRacket    -1.226         0.301          -0.069         15.000         180            180
  17  TeddyBear       1.629          0.557          -1.064         0              118.287        0              47
  18  Pillow          1.387          0.666          -0.166         0              0              0              47
  19  CellPhone       1.676          0.578          -1.373         0              0              0              47
  20  KeyChain        1.536          0.039          0.595          0              0              0              42
  21  AlarmClock      0.305          0.673          1.257          0              0              0              38
  22  CreditCard      0.323          0.673          -1.537         0              0              0              45
  23  CD              1.588          0.039          0.328          0              0              0              42
  24  Bowl            -1.265         0.794          -1.028         0              0              0              46
  25  Bed             1.242          -0.001         -0.881         0              180            0
  26  LightSwitch     0.010          1.315          1.499          0              180            0
  27  GarbageCan      0.840          0.007          1.337          0              180            2.168
  28  HousePlant      -0.083         0.828          -2.045         0              0              0
  29  Shelf           -0.469         0.828          -2.038         0              0              0
  30  Shelf           -1.286         1.451          -1.343         0              0              0
  31  Shelf           -1.286         1.451          -0.602         0              0              0
  32  Shelf           -1.286         1.814          -0.602         0              0              0
  33  Shelf           -1.286         1.814          -1.343         0              0              0
  34  Painting        1.111          1.628          -1.865         90             0              0
  35  DeskLamp        0.473          0.669          1.350          0              0              0
  36  Mirror          -1.383         1.565          0.512          0              270            0
  37  Window          -0.472         1.396          -2.252         90             0              0
  38  SideTable       0.304          -0.001         1.225          0              180            0
  39  Drawer          0.304          0.165          1.159          0              180            0
  40  Drawer          0.304          0.457          1.159          0              180            0
  41  Blinds          -0.453         2.156          -2.242         0              0              0
  42  Safe            1.623          5.960          0.448          0              270            0
  43  Chair           -0.683         0.000          -1.326         0              217.223        0
  44  Drawer          0.416          0.532          -1.553         0              0              0
  45  SideTable       0.413          0.000          -1.684         0              0              0
  46  Desk            -0.788         0.000          -1.032         0              90             0
  47
  48  NorthWall
  49  EastWall
  50  SouthWall
  51  WestWall

Plan:
STEP 1: Turn right to face the desk.  | STEP 2: Pick up the pencil in front of the magazine.  | STEP 3: Turn right and walk to the drawers in front of you with the lamp on it.  | STEP 4: Turn the lamp on that's on the drawers.  | END