Task: Grab the pencil from the desk and turn the light on over it.

Objects in the environment:
  id   object_type     position_x     position_y     position_z     rotation_x     rotation_y     rotation_z     parent_receptacle
----  --------------  -------------  -------------  -------------  -------------  -------------  -------------  --------------------
   0  Agent           0.75           0.906          1.25           0              0              0
   1  Mug             -1.603         0.980          -1.443         0              0              0              43
   2  Mug             -1.198         0.980          -1.606         0              0              0              43
   3  Statue          -1.603         0.989          -1.606         0              0              0              43
   4  KeyChain        -0.995         0.981          -1.281         0              90             0              43
   5  KeyChain        -1.151         0.739          -1.255         0              0              0              42
   6  CD              -0.058         0.089          -1.492         0              270            0              34
   7  CellPhone       -1.435         0.896          1.453          0              0              0              37
   8  CellPhone       -1.163         0.896          2.332          0              0              0              37
   9  Pen             -0.621         1.542          -1.514         0              0              0              45
  10  Pen             -1.587         0.744          -1.300         0              0              0              42
  11  Pencil          -1.151         0.742          -1.390         0              0              0              42
  12  CreditCard      -0.590         0.982          -1.200         0              0              0              43
  13  Pillow          -1.299         0.952          1.746          0              0              0              37
  14  AlarmClock      -0.995         0.982          -1.362         0              0              0              43
  15  AlarmClock      -1.400         0.982          -1.524         0              0              0              43
  16  Book            -0.890         0.897          1.453          0              0              0              37
  17  Box             1.563          0.286          -1.069         0              347.500        0
  18  BasketBall      -1.657         0.126          -0.090         0              0              0
  19  Pen             -0.792         0.987          -1.524         0              0              0              43
  20  Pencil          -1.400         0.985          -1.281         0              0              0              43
  21  Laptop          -1.435         0.894          2.332          0              0              0              37
  22  Pillow          -1.571         0.952          1.160          0              0              0              37
  23  KeyChain        -0.621         1.536          -1.671         0              0              0              45
  24  Bowl            -1.183         1.528          -1.590         0              0              0              45
  25  CreditCard      -0.811         1.536          -1.632         0              0              0              45
  26  CellPhone       -1.326         0.740          -1.345         0              0              0              42
  27  CD              -1.001         1.536          -1.593         0              0              0              45
  28  AlarmClock      -0.387         0.982          -1.281         0              0              0              43
  29  Mug             -0.995         0.980          -1.524         0              0              0              43
  30  Statue          -1.503         1.528          -1.590         0              0              0              45
  31  Mirror          1.907          1.387          0.973          0              90             0
  32  LaundryHamper   -0.351         0.007          2.368          0              164.999        0
  33  DeskLamp        -0.343         1.545          -1.564         0              0              0
  34  GarbageCan      -0.035         0.007          -1.530         0              270            0
  35  Window          1.009          1.514          -2.089         90             0              0
  36  LightSwitch     0.397          1.197          2.729          0              180            0
  37  Bed             -1.299         1.937          1.441          0              0              0
  38  Blinds          1.064          2.382          -2.094         0              0              0
  39  Chair           0.884          0.012          -1.433         0              29.871         0
  40  Chair           -0.646         0.007          -1.206         0              195.000        0
  41  Drawer          -1.409         0.233          -1.303         0              0              0
  42  Drawer          -1.407         0.847          -1.302         0              0              0
  43  Desk            -0.993         0.006          -1.410         0              0              0
  44  Drawer          -1.408         0.558          -1.302         0              0              0
  45  Shelf           0.003          0.013          0.035          0              0              0
  46  NorthWall
  47  EastWall
  48  SouthWall
  49  WestWall

Plan:
STEP 1: Turn around and move to the front of the desk with the clocks. | STEP 2: Pick up the pencil on the desk. | STEP 3: Turn left and move to the left of the desk. | STEP 4: Turn on the light above the desk. | END