Task: turn on the lamp while holding a pencil

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           0.937          3.0            0              270            0
   1  Mug             -0.602         1.114          -3.243         0              0              0              35
   2  Mug             -1.539         1.114          -2.732         0              0              0              35
   3  CellPhone       -1.426         0.586          -2.934         0              0              0              31
   4  Pen             -2.164         1.121          -2.732         0              0              0              35
   5  CreditCard      1.752          0.553          2.243          0              90             0              55
   6  CreditCard      -1.929         0.190          3.503          0              180            0              48
   7  KeyChain        1.828          0.095          -3.206         0              90             0              53
   8  RemoteControl   -0.365         0.087          -2.882         0              0              0              34
   9  RemoteControl   1.609          0.556          2.490          0              90             0              55
  10  AlarmClock      -1.227         1.118          -2.817         0              0              0              35
  11  AlarmClock      -0.602         1.118          -2.902         0              0              0              35
  12  Laptop          0.389          0.830          0.975          0              0              0              28
  13  Laptop          0.958          0.830          1.456          0              0              0              28
  14  Book            0.573          0.077          -3.077         0              0              0              32
  15  AlarmClock      -1.539         1.118          -3.073         0              0              0              35
  16  CellPhone       -0.543         0.087          -2.882         0              0              0              34
  17  Pillow          0.104          0.940          0.255          0              0              0              28
  18  Pillow          1.243          0.940          0.015          0              0              0              28
  19  TeddyBear       1.868          0.036          -0.561         0              59.999         0              Floor|-00.06|
  20  CreditCard      1.609          0.552          2.391          0              90             0              55
  21  KeyChain        1.854          0.554          2.612          0              0              0              55
  22  Pencil          -3.365         0.377          -2.841         0              4.809          0              37
  23  Laptop          -1.901         1.104          -2.965         0              0              0              35
  24  RemoteControl   -2.010         0.193          3.684          0              180            0              48
  25  CD              -0.696         0.190          3.597          0              175.771        0              47
  26  Pen             -1.071         0.588          -2.934         0              0              0              31
  27  Mug             -2.865         0.080          -2.976         0              0              0              29
  28  Bed             0.967          0.049          0.667          0              90             0
  29  Cabinet         -3.0           1.497          -2.643         0              0              0
  30  Drawer          -0.365         0.785          -2.848         0              0              0
  31  Drawer          -1.159         0.785          -2.848         0              0              0
  32  Cabinet         2.064          1.497          -2.643         0              0              0
  33  Drawer          -1.159         0.285          -2.848         0              0              0
  34  Drawer          -0.365         0.285          -2.848         0              0              0
  35  Desk            -1.271         1.169          -2.987         0              0              0
  36  LightSwitch     -0.159         1.281          3.999          0              180            0
  37  GarbageCan      -3.338         0.022          -2.797         0              4.809          0
  38  HousePlant      -0.195         1.105          -3.084         0              0              0
  39  DeskLamp        1.863          0.581          2.431          0              0              0
  40  Mirror          -1.603         1.447          3.999          0              0              0
  41  Television      -3.883         1.771          2.122          0              90             0
  42  Window          -1.952         2.148          -3.302         90             180            0
  43  Window          -0.467         2.148          -3.302         90             180            0
  44  Window          -3.894         1.751          0.582          90             270            0
  45  Window          -3.894         1.751          -0.675         90             270            0
  46  LaundryHamper   1.831          0.058          3.689          0              354.434        1.354
  47  ArmChair        -0.948         0.051          3.583          0              175.988        0
  48  ArmChair        -2.172         0.051          3.598          0              180            0
  49  Blinds          -0.477         2.785          -3.253         0              0              0
  50  Blinds          -1.957         2.785          -3.253         0              0              0
  51  Blinds          -3.799         2.506          0.602          0              90             0
  52  Blinds          -3.799         2.506          -0.647         0              90             0
  53  Safe            1.673          0.054          -3.004         0              0              0
  54  ArmChair        -3.349         0.051          3.375          0              150.096        0
  55  SideTable       1.775          0.048          2.377          0              0              0
  56  Chair           -2.002         0.050          -2.532         0              165.000        0
  57  NorthWall
  58  EastWall
  59  SouthWall
  60  WestWall

Plan:
STEP 1: walk over to the blue recycling bin | STEP 2: grab the yellow pencil out of the recycling bin | STEP 3: turn around and go across the room to the circle table | STEP 4: turn on the lamp on the table | END