Task: Pick up a pencil and turn a 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           -3.0           0.909          -4.25          0              270            0
   1  Mug             -0.657         0.801          -4.246         0              0              0              40
   2  CD              -0.274         0.347          -3.747         0              0              0              33
   3  CD              -0.249         0.799          -4.137         0              0              0              40
   4  CellPhone       -3.760         0.981          -4.276         0              0              0              43
   5  CellPhone       -3.637         0.044          -3.977         0              0              0              48
   6  Pencil          -3.760         0.983          -4.075         0              0              0              43
   7  Pencil          -0.453         0.803          -3.811         0              0              0              40
   8  CreditCard      -0.329         0.542          -3.676         0              0              0              34
   9  KeyChain        -1.270         0.804          -4.029         0              0              0              40
  10  Book            -2.770         0.620          -2.080         0              0              0              25
  11  AlarmClock      -3.613         0.981          -3.673         0              0              0              43
  12  Book            -2.981         0.620          -0.356         0              0              0              25
  13  CellPhone       -2.348         0.620          -1.218         0              0              0              25
  14  Laptop          -3.191         0.618          -2.080         0              0              0              25
  15  CreditCard      -0.453         0.803          -4.137         0              0              0              40
  16  AlarmClock      -0.596         0.542          -3.713         0              0              0              40
  17  KeyChain        -0.249         0.804          -3.703         0              0              0              40
  18  TeddyBear       -2.567         0.575          -0.386         357.948        14.682         7.781          25
  19  BaseballBat     -1.155         0.033          -3.997         90             59.999         0              Floor|-01.88|
  20  Pencil          -3.638         0.422          -3.793         0              0              0              46
  21  Pillow          -3.191         0.722          -1.218         0              0              0              25
  22  CD              -3.687         0.979          -3.472         0              0              0              43
  23  Pen             -3.526         0.424          -3.978         0              0              0              46
  24  Mug             -3.539         0.977          -3.271         0              0              0              43
  25  Bed             -2.980         0.009          -1.177         0              0              0
  26  LightSwitch     -1.620         1.351          0.0            0              180            0
  27  DeskLamp        -1.529         0.790          -4.298         0              0              0
  28  Mirror          -0.002         1.251          -2.592         0              90             0
  29  GarbageCan      -1.843         -0.017         -3.897         0              279.992        0
  30  Window          0.209          1.180          -1.504         90             270            0
  31  Drawer          -0.503         0.067          -4.188         0              180            0
  32  Drawer          -0.502         0.226          -3.799         0              0              0
  33  Drawer          -0.502         0.385          -3.799         0              0              0
  34  CoffeeTable     -0.503         0.009          -3.990         0              0              0
  35  Drawer          -0.502         0.067          -3.799         0              0              0
  36  Blinds          0.163          2.196          -1.495         0              270            0
  37  TableTopDecor   -3.586         0.996          -3.055         0              180            0
  38  Drawer          -0.503         0.385          -4.188         0              180            0
  39  Drawer          -0.503         0.226          -4.188         0              180            0
  40  Desk            -0.862         0.006          -4.028         0              0              0
  41  Drawer          -3.609         0.876          -4.055         0              90             0
  42  Drawer          -3.608         0.112          -3.261         0              90             0
  43  Dresser         -3.653         0.008          -3.658         0              90             0
  44  Drawer          -3.609         0.688          -3.261         0              90             0
  45  Drawer          -3.609         0.300          -3.261         0              90             0
  46  Drawer          -3.609         0.494          -4.055         0              90             0
  47  Drawer          -3.609         0.300          -4.055         0              90             0
  48  Drawer          -3.608         0.112          -4.055         0              90             0
  49  Drawer          -3.609         0.688          -4.055         0              90             0
  50  Drawer          -3.609         0.876          -3.261         0              90             0
  51  Drawer          -3.609         0.494          -3.261         0              90             0
  52  NorthWall
  53  EastWall
  54  SouthWall
  55  WestWall

Plan:
STEP 1: Move to the right and face the brown dresser. | STEP 2: Pick up the pencil from the dresser. | STEP 3: Turn around and stand in front of the white table with the lamp. | STEP 4: Turn the lamp on. | END